90
Total objective tests
24
Objectives passed
0
Objectives failed
66
Objectives skipped
17.0s
Avg test time
100%
Objective pass rate
▾
(no parent)5 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 23.1s | 6 errors · 318 warnings · 1796 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/2026-11-04-04-17-54-713046-e79799689bf1-7967 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.29sINFOstatic_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' + 4.29sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.30sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.37sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.37sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.39sINFOmap_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. + 4.39sINFOmap_serverCreating + 4.40sINFOcontroller_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. + 4.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.43sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.43sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.44sINFOcontroller_serverCreating controller server + 4.47sINFOlocal_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. + 4.48sINFOlocal_costmap.local_costmapCreating Costmap + 4.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.53sINFOsmoother_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. + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.54sINFOsmoother_serverCreating smoother server + 4.55sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.55sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.58sINFOlifecycle_manager_localizationCreating + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.62sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.63sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.63sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.64sINFOmap_serverConfiguring + 4.66sINFOros2_control_node-13process started with pid [8132] ×2 + 4.66sINFOmove_group-25process started with pid [8184] ×2 + 4.66sINFOparameter_manager_node-26process started with pid [8185] ×2 + 4.66sINFOwaypoint_manager_node-27process started with pid [8186] ×2 + 4.66sINFOmove_joint_resampler_node-28process started with pid [8187] ×2 + 4.66sINFOmove_end_effector_resampler_node-29process started with pid [8189] ×2 + 4.66sINFOobjective_server_node_main-30process started with pid [8190] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [8191] ×2 + 4.66sINFOcomponent_container_mt-32process started with pid [8194] ×2 + 4.66sINFOexecute_objective_bridge-33process started with pid [8200] ×2 + 4.66sINFOui_teleop_bridge-34process started with pid [8201] ×2 + 4.66sINFOweb_bridge-35process started with pid [8203] ×2 + 4.66sINFOtf_visualization_relay-36process started with pid [8206] ×2 + 4.66sINFOjoint_state_visualization_relay-37process started with pid [8207] ×2 + 4.66sINFOtf2_web_republisher_node-38process started with pid [8212] ×2 + 4.67sINFOvideo_server-39process started with pid [8220] ×2 + 4.67sINFOweb_bridge_auth_proxy-40process started with pid [8221] ×2 + 4.67sINFOweb_video_auth_proxy-41process started with pid [8235] ×2 + 4.67sINFOcomponent_container_isolated-1process started with pid [8017] ×2 + 4.67sINFOcomponent_container_isolated-2process started with pid [8018] ×2 + 4.67sINFOstatic_transform_publisher-3process started with pid [8019] ×2 + 4.67sINFOodom_world_drift-4process started with pid [8020] ×2 + 4.67sINFOlidar_flattener.py-5process started with pid [8021] ×2 + 4.67sINFOstatic_transform_publisher-6process started with pid [8022] ×2 + 4.67sINFOstatic_transform_publisher-7process started with pid [8023] ×2 + 4.67sINFOscan_to_scan_filter_chain-8process started with pid [8024] ×2 + 4.67sINFOscan_to_scan_filter_chain-9process started with pid [8025] ×2 + 4.67sINFOrelay-10process started with pid [8129] ×2 + 4.67sINFOrelay-11process started with pid [8130] ×2 + 4.67sINFOfixed_lag_smoother_node-12process started with pid [8131] ×2 + 4.67sINFOros2-14process started with pid [8133] ×2 + 4.67sINFOros2-15process started with pid [8134] ×2 + 4.67sINFOros2-16process started with pid [8135] ×2 + 4.67sINFOros2-17process started with pid [8136] ×2 + 4.67sINFOros2-18process started with pid [8137] ×2 + 4.67sINFOros2-19process started with pid [8139] ×2 + 4.67sINFOros2-20process started with pid [8140] ×2 + 4.67sINFOros2-21process started with pid [8141] ×2 + 4.67sINFOros2-22process started with pid [8142] ×2 + 4.67sINFOros2-23process started with pid [8146] ×2 + 4.67sINFOros2-24process started with pid [8147] ×2 + 4.68sINFOplanner_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. + 4.70sINFOstate_estimatorReceived a set_pose request (stamp: 1793765881165608897, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.72sINFOplanner_serverCreating + 4.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.76sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.76sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.76sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.76sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.76sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.76sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.76sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.76sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.76sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.76sINFOamclConfiguring + 4.76sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.77sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.77sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.78sINFOmap_serverActivating + 4.78sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.78sINFOglobal_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. + 4.78sINFOglobal_costmap.global_costmapCreating Costmap + 4.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.80sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.80sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.80sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.81sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.84sINFOcontroller_managerupdate rate is 600 Hz + 4.84sINFOcontroller_managerOverruns handling is : enabled + 4.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.84sWARNcontroller_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. + 4.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.85sWARNros2_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 + 4.88sINFObehavior_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. + 4.89sINFOrobot_state_publisherRobot initialized + 4.89sINFOcontroller_managerReceived robot description from topic. + 4.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.89sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053150 ms (missed cycles : 4). + 4.91sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.91sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.91sINFOamclActivating + 4.91sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.92sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053150 ms (missed cycles : 4).[0m ×2 + 4.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.94sINFOamclSubscribed to map_topic: /map + 4.94sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.95sINFOamclCreated reinitialize_global_localization service + 4.95sINFOamclCreated request_nomotion_update service + 4.95sINFOamclA new map was received + 4.95sINFOamclInitializing particle filter instance + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.98sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.98sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.99sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.99sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.02sINFObt_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. + 5.05sINFObt_navigatorCreating + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.07sINFOvideo_server2026/11/04 04:18:01 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.07sINFOvideo_server2026/11/04 04:18:01 INF configuration loaded from /tmp/moveit-webrtc-iu372i9d/mediamtx.yml ×2 + 5.07sINFOvideo_server2026/11/04 04:18:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.07sINFOvideo_server2026/11/04 04:18:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.11sINFOwaypoint_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. + 5.11sINFOwaypoint_followerCreating + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.17sINFOvelocity_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. + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.21sINFOlifecycle_manager_navigationCreating + 5.24sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.26sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.26sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.26sINFOcontroller_serverConfiguring controller interface + 5.26sINFOcontroller_servergetting progress checker plugins.. + 5.26sINFOcontroller_servergetting goal checker plugins.. + 5.26sINFOcontroller_serverController frequency set to 20.0000Hz + 5.26sINFOlocal_costmap.local_costmapConfiguring + 5.28sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.30sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.31sWARNlaser_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. + 5.31sWARNscan_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 + 5.32sWARNlaser_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. + 5.34sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.34sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.35sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.38sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.38sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.39sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.39sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.39sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.39sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.42sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.44sINFOamclParticle filter initialization completed + 5.44sINFOamclInitializing particles from estimated pose and covariance + 5.44sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.44sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.45sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.46sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.46sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.47sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.49sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.49sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.49sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.50sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.50sINFOcontroller_serverOptimizer reset ×2 + 5.51sINFOcontroller_serverController Server has FollowPath controllers available. + 5.52sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.52sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.52sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.53sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.53sINFOsmoother_serverConfiguring smoother server + 5.54sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.56sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.57sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.58sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.59sINFOplanner_serverConfiguring + 5.59sINFOglobal_costmap.global_costmapConfiguring + 5.61sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.64sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.64sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.64sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.65sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.71sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.71sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.71sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.80sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.81sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.81sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.82sINFOplanner_serverPlanner Server has GridBased planners available. + 5.86sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.87sINFObehavior_serverConfiguring + 5.87sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.88sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.88sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.88sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.89sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.91sINFObehavior_serverConfiguring spin + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717819 ms (missed cycles : 5). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717819 ms (missed cycles : 5).[0m ×2 + 5.95sINFObehavior_serverConfiguring backup + 5.97sINFObehavior_serverConfiguring drive_on_heading + 5.99sINFObehavior_serverConfiguring assisted_teleop + 5.99sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.01sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.493073 seconds + 6.01sINFOmove_groupLoaded robot model in 0.493073 seconds[0m ×2 + 6.01sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.01sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.01sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.02sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.02sINFObehavior_serverConfiguring wait + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.04sINFObt_navigatorConfiguring + 6.06sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.07sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.41sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.49sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.49sINFOwaypoint_followerConfiguring + 6.51sWARNmove_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. + 6.51sWARNmove_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. + 6.51sWARNmove_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. + 6.51sWARNmove_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. + 6.51sWARNmove_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. + 6.51sWARNmove_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. + 6.51sWARNmove_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 + 6.51sWARNmove_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 + 6.51sWARNmove_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 + 6.51sWARNmove_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 + 6.51sWARNmove_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. + 6.51sWARNmove_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 + 6.51sWARNmove_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 + 6.51sWARNmove_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. + 6.52sWARNmove_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 + 6.52sWARNmove_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 + 6.52sWARNmove_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. + 6.52sWARNmove_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. + 6.52sWARNmove_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 + 6.52sWARNmove_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 + 6.53sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.53sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.53sINFOvelocity_smootherConfiguring velocity smoother + 6.54sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.54sINFOcontroller_serverActivating + 6.54sINFOlocal_costmap.local_costmapActivating + 6.54sINFOlocal_costmap.local_costmapChecking transform + 6.54sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×10 + 6.63sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.64sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.64sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.64sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.66sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 6.66sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.72sINFOweb_video_auth_proxy2026-11-04 04:18:03,191 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.73sINFOweb_video_auth_proxy2026-11-04 04:18:03,196 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.73sINFOweb_bridge_auth_proxy2026-11-04 04:18:03,199 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.79sINFOwaypoint_manager_nodeLoaded robot model in 0.351494 seconds[0m ×2 + 6.79sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.79sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.88sINFOmove_group[2026-11-04 04:18:03.351] [moveit_pro_license] [info] ×2 + 6.88sINFOmove_group************************************************* ×4 + 6.88sINFOmove_group* MoveIt Pro License ×2 + 6.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462888 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462888 ms (missed cycles : 2).[0m ×2 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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. + 7.30sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.31sWARNwaypoint_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. + 7.31sWARNwaypoint_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 + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.35sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.35sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.35sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.35sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.35sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.35sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.35sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.35sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.35sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.35sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.35sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.35sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.36sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.36sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.36sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.47sINFOwaypoint_manager_node[2026-11-04 04:18:03.942] [moveit_pro_license] [info] ×2 + 7.47sINFOwaypoint_manager_node************************************************* ×4 + 7.47sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.47sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.50sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.50sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.50sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 7.50sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.50sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.50sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.50sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.50sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.50sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.50sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.50sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.50sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.50sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.50sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.50sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.50sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.50sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.50sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.50sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.50sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.56sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.56sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.72sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.72sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.77sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 7.77sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.77sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.85sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.85sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.86sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.91sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 7.91sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 7.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.96sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.96sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.07sINFOobjective_server_node[2026-11-04 04:18:04.535] [moveit_pro_license] [info] ×2 + 8.07sINFOobjective_server_node************************************************* ×4 + 8.07sINFOobjective_server_node* MoveIt Pro License ×2 + 8.07sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.16sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.19sINFOobjective_server_nodeLoaded robot model in 0.0403562 seconds[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.19sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.19sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.19sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228828 ms (missed cycles : 2). + 8.21sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228828 ms (missed cycles : 2).[0m ×2 + 8.21sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.21sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.21sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.21sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.21sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.21sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.22sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.24sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.40sINFOros2_control_node[2026-11-04 04:18:04.866] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.40sINFOros2_control_node[2026-11-04 04:18:04.869] [info] Controller state will be published at 10 Hz. ×2 + 8.40sINFOros2_control_node[2026-11-04 04:18:04.871] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.42sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.42sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.42sWARNcomponent_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 + 8.44sINFOstreaming_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) + 8.44sINFOcomponent_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 + 8.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.45sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.69sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.74sWARNobjective_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 + 8.74sWARNobjective_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. + 8.74sWARNobjective_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. + 8.74sWARNobjective_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 + 8.74sWARNobjective_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 + 8.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.78sINFOros2-21process has finished cleanly [pid 8141] ×2 + 8.82sINFOobjective_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 + 8.82sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.83sINFOcomponent_container_mtLoaded robot model in 0.410829 seconds[0m ×2 + 8.83sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.83sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.84sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.84sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.84sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.84sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.84sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.84sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.84sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.85sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 8.85sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 8.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.16sINFOmove_groupMoveGroup debug mode is ON + 9.16sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.20sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.21sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692727 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692727 ms (missed cycles : 2).[0m ×2 + 9.21sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.21sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.22sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.33sINFOmove_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
********************************************************
+ 9.33sINFOmove_group ×8 + 9.33sINFOmove_group******************************************************** ×4 + 9.33sINFOmove_group* MoveGroup using: ×2 + 9.33sINFOmove_group* - apply_planning_scene_service ×2 + 9.33sINFOmove_group* - clear_octomap_service ×2 + 9.33sINFOmove_group* - get_group_urdf ×2 + 9.33sINFOmove_group* - load_geometry_from_file ×2 + 9.33sINFOmove_group* - get_planning_scene_service ×2 + 9.33sINFOmove_group* - kinematics_service ×2 + 9.33sINFOmove_group* - save_geometry_to_file ×2 + 9.33sINFOmove_group* - GetPlanningGroups ×2 + 9.33sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.33sINFOmove_group[0m ×2 + 9.33sINFOmove_group[92mYou can start planning now![0m ×2 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.40sWARNplanning_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. + 9.40sWARNcomponent_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 + 9.40sWARNplanning_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. + 9.40sWARNcomponent_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 + 9.42sINFOros2_control_node[2026-11-04 04:18:05.892] [info] Controller state will be published at 20 Hz. ×2 + 9.42sINFOros2_control_node[2026-11-04 04:18:05.894] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.72sINFOcomponent_container_mt[2026-11-04 04:18:06.190] [moveit_pro_license] [info] ×2 + 9.72sINFOcomponent_container_mt************************************************* ×4 + 9.72sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.72sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.74sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 9.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 9.78sINFOros2-23process has finished cleanly [pid 8146] ×2 + 9.82sWARNros2_control_nodeCamera render tick took 1.00 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.82sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.82sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.82sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.82sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.86sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.86sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.86sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.87sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.87sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.15sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 10.15sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 10.15sINFOros2-20process has finished cleanly [pid 8140] ×2 + 10.16sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.17sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.18sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.20sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.20sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.22sINFOcontroller_managerSuccessfully switched controllers! ×19 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835136 ms (missed cycles : 4). + 10.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835136 ms (missed cycles : 4).[0m ×2 + 10.22sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.22sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 10.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 10.56sINFOros2-18process has finished cleanly [pid 8137] ×2 + 10.58sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.58sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.59sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.59sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.82sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793765885.285 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.93sINFOros2_control_node[2026-11-04 04:18:07.403] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.94sINFOros2_control_node[2026-11-04 04:18:07.405] [info] Controller state will be published at 10 Hz. ×2 + 10.94sINFOros2_control_node[2026-11-04 04:18:07.406] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.25sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.25sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.25sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.26sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 11.26sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 11.26sINFOros2-22process has finished cleanly [pid 8142] ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210948 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210948 ms (missed cycles : 2).[0m ×2 + 11.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.31sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.32sINFOplatform_velocity_controllerconfigure successful + 11.32sINFOros2_control_nodeconfigure successful[0m ×6 + 11.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.33sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.33sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.54sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×3 + 11.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 11.64sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 11.66sINFOros2-17process has finished cleanly [pid 8136] ×2 + 11.69sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.69sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.69sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.69sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.70sINFOplatform_velocity_controller_nav2configure successful + 11.95sWARNobjective_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 + 12.04sINFOros2-19process has finished cleanly [pid 8139] ×2 + 12.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 12.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 12.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.12sINFOforce_torque_sensor_broadcasterconfigure successful + 12.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797497 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797497 ms (missed cycles : 2).[0m ×2 + 12.47sINFOros2-14process has finished cleanly [pid 8133] ×2 + 12.47sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.47sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.47sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.47sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 12.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 12.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.86sINFOros2-15process has finished cleanly [pid 8134] ×2 + 12.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 12.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 12.93sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.04sINFOlocal_costmap.local_costmapstart + 13.15sWARNcontroller_serverParameter controller_server.verbose not found + 13.15sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.25sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.25sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.26sINFOsmoother_serverActivating + 13.26sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.29sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.29sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.29sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.29sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.29sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m + 13.29sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6kz0_g8b --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_jcu883nk --params-file /tmp/launch_params_x_13hh2m [0m ×2 + 13.29sINFOros2-16process has finished cleanly [pid 8135] ×2 + 13.32sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793765888.421 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.34sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 13.34sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 13.34sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 13.35sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 13.37sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.37sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.37sINFOplanner_serverActivating + 13.37sINFOglobal_costmap.global_costmapActivating + 13.37sINFOglobal_costmap.global_costmapChecking transform + 13.37sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 13.41sINFOamclParticle filter update iteration stats: 1693 particles 811 points - 22.373ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642764 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642764 ms (missed cycles : 2).[0m ×2 + 13.79sINFOros2_control_node[2026-11-04 04:18:10.260] [info] Controller state will be published at 20 Hz. ×2 + 13.79sINFOros2_control_node[2026-11-04 04:18:10.261] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.87sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1793765890.330829 but the earliest data is at time 1793765890.488730, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.12sINFOros2-24process has finished cleanly [pid 8147] ×2 + 14.37sINFOglobal_costmap.global_costmapstart + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678109 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678109 ms (missed cycles : 2).[0m ×2 + 15.42sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.42sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082651 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082651 ms (missed cycles : 2).[0m ×2 + 15.52sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.52sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.52sINFObehavior_serverActivating + 15.52sINFObehavior_serverActivating spin + 15.52sINFObehavior_serverActivating backup + 15.52sINFObehavior_serverActivating drive_on_heading + 15.52sINFObehavior_serverActivating assisted_teleop + 15.52sINFObehavior_serverActivating wait + 15.52sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.63sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.63sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.63sINFObt_navigatorActivating + 15.70sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.81sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.81sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.81sINFOwaypoint_followerActivating + 15.81sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.91sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.91sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.91sINFOvelocity_smootherActivating + 15.91sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833568 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833568 ms (missed cycles : 3).[0m ×2 + 16.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846960 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846960 ms (missed cycles : 3).[0m ×2 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053583 ms (missed cycles : 4). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053583 ms (missed cycles : 4).[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 22.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.41sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.41sINFOobjective_server_nodeobjective_name: "" ×12 + 22.41sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.41sINFOobjective_server_node ×56 + 22.41sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.41sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.41sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.41sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.42sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.42sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.42sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.42sINFOobjective_server_node</Control> ×24 + 22.42sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.42sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.42sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.42sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.42sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.42sINFOobjective_server_nodecaller: ×14 + 22.42sINFOobjective_server_nodetype: 0 ×14 + 22.42sINFOobjective_server_nodename: "" ×14 + 22.42sINFOobjective_server_nodeinstance_id: "" ×14 + 22.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.56sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 22.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 22.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 22.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.73sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 23.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.29sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 23.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 23.43sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 24.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 24.10sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 24.31sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.39sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 24.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 24.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 24.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 24.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 24.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 24.99sINFOmove_groupClearing octomap...[0m ×2 + 24.99sINFOmove_groupOctomap cleared.[0m ×2 + 25.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 | ||||
| ✓ passed | — | placed | 0.9s | 6 errors · 24 warnings · 641 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053583 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053583 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.46sINFOobjective_server_nodeobjective_name: "" ×12 + 3.46sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.46sINFOobjective_server_node ×60 + 3.46sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.46sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.46sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.46sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.46sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.46sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.46sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.46sINFOobjective_server_node</Control> ×24 + 3.46sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.46sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.46sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.46sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.46sINFOobjective_server_nodecaller: ×18 + 3.46sINFOobjective_server_nodetype: 0 ×18 + 3.46sINFOobjective_server_nodename: "" ×18 + 3.46sINFOobjective_server_nodeinstance_id: "" ×18 + 3.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 3.66sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 4.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 4.47sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 6.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 7.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | release_fails | 0.8s | 6 errors · 21 warnings · 741 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.18sINFOobjective_server_nodeobjective_name: "" ×12 + 1.18sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.18sINFOobjective_server_node ×64 + 1.18sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.18sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.18sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.18sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.18sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.18sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.18sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.18sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.18sINFOobjective_server_node</Control> ×24 + 1.18sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.18sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.18sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.18sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.18sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.18sINFOobjective_server_nodecaller: ×22 + 1.18sINFOobjective_server_nodetype: 0 ×22 + 1.18sINFOobjective_server_nodename: "" ×22 + 1.18sINFOobjective_server_nodeinstance_id: "" ×22 + 1.22sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 1.38sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.09sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 2.19sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.91sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.76sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 | ||||
| ✓ passed | — | hover_fails | 0.8s | 6 errors · 21 warnings · 691 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5).[0m ×2 + 1.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.39sINFOobjective_server_nodeobjective_name: "" ×12 + 2.39sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.39sINFOobjective_server_node ×62 + 2.39sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.39sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.39sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.39sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.39sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.39sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.39sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.39sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.39sINFOobjective_server_node</Control> ×24 + 2.39sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.39sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.39sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.39sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.39sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.39sINFOobjective_server_nodecaller: ×20 + 2.39sINFOobjective_server_nodetype: 0 ×20 + 2.39sINFOobjective_server_nodename: "" ×20 + 2.39sINFOobjective_server_nodeinstance_id: "" ×20 + 2.43sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 2.59sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 2.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 3.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 3.40sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.96sINFOmove_groupClearing octomap...[0m ×2 + 4.96sINFOmove_groupOctomap cleared.[0m ×2 + 4.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 7.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 6 errors · 21 warnings · 588 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053583 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053583 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817402 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996354 ms (missed cycles : 5).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.46sINFOobjective_server_nodeobjective_name: "" ×12 + 3.46sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.46sINFOobjective_server_node ×58 + 3.46sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.46sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.46sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.46sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.46sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.46sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.46sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.46sINFOobjective_server_node</Control> ×24 + 3.46sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.46sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.46sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.46sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.46sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.46sINFOobjective_server_nodecaller: ×16 + 3.46sINFOobjective_server_nodetype: 0 ×16 + 3.46sINFOobjective_server_nodename: "" ×16 + 3.46sINFOobjective_server_nodeinstance_id: "" ×16 + 3.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 3.66sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 4.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 4.47sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOvacuum_gripperReceived & accepted new action goal + 6.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives15 pass27 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.4s | 3 errors · 239 warnings · 287 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140599 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140599 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.917ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157262 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157262 ms (missed cycles : 4).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.449ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.239ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366290 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366290 ms (missed cycles : 3).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.938ms + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOjoint_trajectory_controllerGot request to cancel goal + 3.08sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.08sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793766116.31974506 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOstate_estimatorReceived a set_pose request (stamp: 1793766116340452286, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349494 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349494 ms (missed cycles : 3).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.465ms + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.407ms + 3.62sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.62sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.62sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.62sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569259, y=-0.0171792, yaw=-0.0183993 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793766116.92356777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.792ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016253 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016253 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902038 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902038 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035717 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035717 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.48sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.48sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943519 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943519 ms (missed cycles : 5).[0m ×2 + 8.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.649ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226017 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226017 ms (missed cycles : 2).[0m ×2 + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.645ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264365 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264365 ms (missed cycles : 3).[0m ×2 + 9.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.462ms + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.145ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626445 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626445 ms (missed cycles : 3).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.190ms + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331893 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331893 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.102ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529430 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529430 ms (missed cycles : 3).[0m ×2 + 13.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.079ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969385 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969385 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.619ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485227 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485227 ms (missed cycles : 3).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.867ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.467ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062675 ms (missed cycles : 4). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062675 ms (missed cycles : 4).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.359ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721846 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721846 ms (missed cycles : 3).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.574ms + 17.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.412ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603986 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603986 ms (missed cycles : 3).[0m ×2 + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.722ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175096 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175096 ms (missed cycles : 3).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.495ms + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220646 ms (missed cycles : 4). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220646 ms (missed cycles : 4).[0m ×2 + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.625ms + 20.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408500 ms (missed cycles : 3). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408500 ms (missed cycles : 3).[0m ×2 + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.321ms + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.698ms + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681479 ms (missed cycles : 3). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681479 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.153ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757233 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757233 ms (missed cycles : 2).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.803ms + 24.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.226ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314794 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314794 ms (missed cycles : 2).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.782ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487844 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487844 ms (missed cycles : 3).[0m ×2 + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.193ms + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.740ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911297 ms (missed cycles : 3). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911297 ms (missed cycles : 3).[0m ×2 + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.506ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522096 ms (missed cycles : 3). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522096 ms (missed cycles : 3).[0m ×2 + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.137ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.052ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781014 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781014 ms (missed cycles : 3).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.971ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801380 ms (missed cycles : 3). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801380 ms (missed cycles : 3).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.157ms + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.997ms + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954631 ms (missed cycles : 2). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954631 ms (missed cycles : 2).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.512ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643635 ms (missed cycles : 3). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643635 ms (missed cycles : 3).[0m ×2 + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.091ms + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.363ms + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828407 ms (missed cycles : 3). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828407 ms (missed cycles : 3).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.761ms + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378392 ms (missed cycles : 3). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378392 ms (missed cycles : 3).[0m ×2 + 33.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.852ms + 34.85sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.85sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195563 ms (missed cycles : 2). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195563 ms (missed cycles : 2).[0m ×2 + 35.80sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488086 ms (missed cycles : 2). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488086 ms (missed cycles : 2).[0m ×2 + 36.66sINFOobjective_server_nodePlanning for 32 path waypoints. ×6 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008932 ms (missed cycles : 5). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008932 ms (missed cycles : 5).[0m ×2 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274697 ms (missed cycles : 6). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274697 ms (missed cycles : 6).[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966997 ms (missed cycles : 3). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966997 ms (missed cycles : 3).[0m ×2 + 39.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.754ms + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588399 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588399 ms (missed cycles : 3).[0m ×2 + 40.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.947ms + 41.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.964ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751054 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751054 ms (missed cycles : 2).[0m ×2 + 41.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.390ms + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783064 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783064 ms (missed cycles : 2).[0m ×2 + 42.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.191ms + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402794 ms (missed cycles : 3). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402794 ms (missed cycles : 3).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060981 ms (missed cycles : 2). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060981 ms (missed cycles : 2).[0m ×2 + 45.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.054ms + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687873 ms (missed cycles : 3). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687873 ms (missed cycles : 3).[0m ×2 + 45.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.507ms + 46.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.544ms + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132057 ms (missed cycles : 5). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132057 ms (missed cycles : 5).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.114ms + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359309 ms (missed cycles : 2). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359309 ms (missed cycles : 2).[0m ×2 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.539ms + 48.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.339ms + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988391 ms (missed cycles : 2). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988391 ms (missed cycles : 2).[0m ×2 + 49.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.315ms + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740769 ms (missed cycles : 3). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740769 ms (missed cycles : 3).[0m ×2 + 49.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.592ms + 50.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.514ms + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847319 ms (missed cycles : 2). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847319 ms (missed cycles : 2).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.214ms + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669762 ms (missed cycles : 2). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669762 ms (missed cycles : 2).[0m ×2 + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519457 ms (missed cycles : 2). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519457 ms (missed cycles : 2).[0m ×2 + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207575 ms (missed cycles : 2). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207575 ms (missed cycles : 2).[0m ×2 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.573974 ms (missed cycles : 6). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.573974 ms (missed cycles : 6).[0m ×2 + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552774 ms (missed cycles : 3). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552774 ms (missed cycles : 3).[0m ×2 + 56.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.221ms + 56.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.042ms + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774517 ms (missed cycles : 2). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774517 ms (missed cycles : 2).[0m ×2 + 58.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.009ms + 58.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489753 ms (missed cycles : 3). + 58.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489753 ms (missed cycles : 3).[0m ×2 + 58.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.703ms + 59.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904529 ms (missed cycles : 5). + 59.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904529 ms (missed cycles : 5).[0m ×2 + 59.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.579ms + 59.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.305ms + 60.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.178ms + 60.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.037ms + 60.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039883 ms (missed cycles : 2). + 60.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039883 ms (missed cycles : 2).[0m ×2 + 61.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.140ms + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837870 ms (missed cycles : 3). + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837870 ms (missed cycles : 3).[0m ×2 + 61.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.670ms + 62.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.588ms + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627430 ms (missed cycles : 3). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627430 ms (missed cycles : 3).[0m ×2 + 63.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.654ms + 63.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251070 ms (missed cycles : 4). + 63.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251070 ms (missed cycles : 4).[0m ×2 + 64.06sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 64.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002092 ms (missed cycles : 5). + 64.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002092 ms (missed cycles : 5).[0m ×2 + 65.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827452 ms (missed cycles : 3). + 65.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827452 ms (missed cycles : 3).[0m ×2 + 65.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.034ms + 67.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647932 ms (missed cycles : 3). + 67.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647932 ms (missed cycles : 3).[0m ×2 + 67.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.860ms + 68.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255866 ms (missed cycles : 2). + 68.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255866 ms (missed cycles : 2).[0m ×2 + 68.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.033ms + 69.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436427 ms (missed cycles : 3). + 69.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436427 ms (missed cycles : 3).[0m ×2 + 69.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.600ms + 70.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.438ms + 70.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961763 ms (missed cycles : 2). + 70.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961763 ms (missed cycles : 2).[0m ×2 + 70.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.050ms + 70.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.222ms + 71.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.288ms + 71.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975279 ms (missed cycles : 2). + 71.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975279 ms (missed cycles : 2).[0m ×2 + 71.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.079ms + 71.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.879ms + 72.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240919 ms (missed cycles : 3). + 72.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240919 ms (missed cycles : 3).[0m ×2 + 72.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.987ms + 72.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.786ms + 73.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051431 ms (missed cycles : 2). + 73.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051431 ms (missed cycles : 2).[0m ×2 + 73.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.967ms + 74.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.158ms + 74.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260918 ms (missed cycles : 5). + 74.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260918 ms (missed cycles : 5).[0m ×2 + 75.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793766188.72376084 seconds ×3 + 75.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240712 ms (missed cycles : 2). + 75.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240712 ms (missed cycles : 2).[0m ×2 + 75.52sINFOstate_estimatorReceived a set_pose request (stamp: 1793766188745310818, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 75.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.549ms + 75.68sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.68sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.831ms + 76.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 76.03sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793766189.33461571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987152 ms (missed cycles : 5). + 76.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987152 ms (missed cycles : 5).[0m ×2 + 77.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395846 ms (missed cycles : 3). + 77.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395846 ms (missed cycles : 3).[0m ×2 + 77.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 77.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 77.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549465, y=-0.0157809, yaw=-0.0121441 + 77.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.878ms + 78.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005898 ms (missed cycles : 2). + 78.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005898 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.6s | 190 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.31sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169291 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169291 ms (missed cycles : 2).[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843613 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843613 ms (missed cycles : 2).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.083ms + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666449 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666449 ms (missed cycles : 2).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.449ms + 9.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.906ms + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101298 ms (missed cycles : 3). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101298 ms (missed cycles : 3).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.571ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858450 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858450 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.737ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731036 ms (missed cycles : 3). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731036 ms (missed cycles : 3).[0m ×2 + 12.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.652ms + 13.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.741ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463694 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463694 ms (missed cycles : 3).[0m ×2 + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.874ms + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.391ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496951 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496951 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.890ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723691 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723691 ms (missed cycles : 2).[0m ×2 + 15.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.575ms + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.480ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026170 ms (missed cycles : 5). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026170 ms (missed cycles : 5).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.507ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942739 ms (missed cycles : 4). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942739 ms (missed cycles : 4).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.290ms + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.077ms + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355255 ms (missed cycles : 3). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355255 ms (missed cycles : 3).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.379ms + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005364 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005364 ms (missed cycles : 3).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.168ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563839 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563839 ms (missed cycles : 2).[0m ×2 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.629ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.471ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670748 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670748 ms (missed cycles : 2).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.333ms + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979639 ms (missed cycles : 5). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979639 ms (missed cycles : 5).[0m ×2 + 23.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.646ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716948 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716948 ms (missed cycles : 3).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.194ms + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253016 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253016 ms (missed cycles : 3).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.405ms + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.729ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410000 ms (missed cycles : 4). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410000 ms (missed cycles : 4).[0m ×2 + 26.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.837ms + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999960 ms (missed cycles : 5). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999960 ms (missed cycles : 5).[0m ×2 + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.204ms + 28.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.415ms + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945645 ms (missed cycles : 2). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945645 ms (missed cycles : 2).[0m ×2 + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.371ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698172 ms (missed cycles : 3). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698172 ms (missed cycles : 3).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.449ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201314 ms (missed cycles : 4). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201314 ms (missed cycles : 4).[0m ×2 + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.078ms + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754891 ms (missed cycles : 2). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754891 ms (missed cycles : 2).[0m ×2 + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.787ms + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.638ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149900 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149900 ms (missed cycles : 2).[0m ×2 + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.762ms + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541919 ms (missed cycles : 3). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541919 ms (missed cycles : 3).[0m ×2 + 34.06sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.11sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024878 ms (missed cycles : 5). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024878 ms (missed cycles : 5).[0m ×2 + 35.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.904ms + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672556 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672556 ms (missed cycles : 2).[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452199 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452199 ms (missed cycles : 3).[0m ×2 + 37.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.129ms + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259306 ms (missed cycles : 5). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259306 ms (missed cycles : 5).[0m ×2 + 38.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.433ms + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490866 ms (missed cycles : 3). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490866 ms (missed cycles : 3).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070806 ms (missed cycles : 2). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070806 ms (missed cycles : 2).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746797 ms (missed cycles : 4). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746797 ms (missed cycles : 4).[0m ×2 + 41.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.920ms + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318640 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318640 ms (missed cycles : 3).[0m ×2 + 42.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.544ms + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140018 ms (missed cycles : 4). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140018 ms (missed cycles : 4).[0m ×2 + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098713 ms (missed cycles : 3). + 44.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098713 ms (missed cycles : 3).[0m ×2 + 44.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.007ms + 44.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.469ms + 45.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128924 ms (missed cycles : 4). + 45.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128924 ms (missed cycles : 4).[0m ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342662 ms (missed cycles : 3). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342662 ms (missed cycles : 3).[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346041 ms (missed cycles : 2). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346041 ms (missed cycles : 2).[0m ×2 + 47.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.803ms + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286833 ms (missed cycles : 2). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286833 ms (missed cycles : 2).[0m ×2 + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242855 ms (missed cycles : 5). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242855 ms (missed cycles : 5).[0m ×2 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691221 ms (missed cycles : 2). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691221 ms (missed cycles : 2).[0m ×2 + 51.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.170ms + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940160 ms (missed cycles : 2). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940160 ms (missed cycles : 2).[0m ×2 + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530792 ms (missed cycles : 2). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530792 ms (missed cycles : 2).[0m ×2 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900469 ms (missed cycles : 3). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900469 ms (missed cycles : 3).[0m ×2 + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805689 ms (missed cycles : 2). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805689 ms (missed cycles : 2).[0m ×2 + 55.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.590ms + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082091 ms (missed cycles : 4). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082091 ms (missed cycles : 4).[0m ×2 + 56.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909264 ms (missed cycles : 2). + 56.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909264 ms (missed cycles : 2).[0m ×2 + 57.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063273 ms (missed cycles : 2). + 57.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063273 ms (missed cycles : 2).[0m ×2 + 58.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385071 ms (missed cycles : 2). + 58.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385071 ms (missed cycles : 2).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.020ms + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561078 ms (missed cycles : 2). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561078 ms (missed cycles : 2).[0m ×2 + 60.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793766252.88115501 seconds ×3 + 60.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793766252902090170, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.14sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-4.85, 6.60) to (0.13, 11.58). The costmap cannot raytrace for it. + 60.14sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-4.85, 6.60) to (0.13, 11.58). The costmap cannot raytrace for it. + 60.25sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.25sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.351ms + 60.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.56sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793766253.52165651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.06sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039974 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039974 ms (missed cycles : 3).[0m ×2 + 61.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.97sWARNglobal_costmap.global_costmapSensor origin at (3.18, -3.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 61.97sWARNglobal_costmap.global_costmapSensor origin at (2.83, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 62.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304588 ms (missed cycles : 3). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304588 ms (missed cycles : 3).[0m ×2 + 62.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 62.16sINFOamclInitializing particles from estimated pose and covariance + 62.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 62.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0551763, y=-0.0167223, yaw=-0.0174535 + 62.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.691ms + 62.97sWARNglobal_costmap.global_costmapSensor origin at (3.18, -3.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 63.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687376 ms (missed cycles : 2). + 63.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687376 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 193 warnings · 235 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.310ms + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.774ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498728 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498728 ms (missed cycles : 5).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.617ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.453ms + 2.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.818ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.132ms + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.824ms + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793765954.90178108 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOstate_estimatorReceived a set_pose request (stamp: 1793765954926490688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661061 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661061 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 5.463ms + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.59sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.59sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793765955.50841069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.426ms + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746688 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746688 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868363 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868363 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148666 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148666 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361680 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361680 ms (missed cycles : 2).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.563ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563823 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563823 ms (missed cycles : 2).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.979ms + 9.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025783 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025783 ms (missed cycles : 3).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.466ms + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816509 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816509 ms (missed cycles : 5).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.170ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.146ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820344 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820344 ms (missed cycles : 3).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.676ms + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.121ms + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942057 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942057 ms (missed cycles : 3).[0m ×2 + 13.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.795ms + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.311ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681383 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681383 ms (missed cycles : 3).[0m ×2 + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.478ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051239 ms (missed cycles : 4). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051239 ms (missed cycles : 4).[0m ×2 + 15.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.380ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.546ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080636 ms (missed cycles : 3). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080636 ms (missed cycles : 3).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.291ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212101 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212101 ms (missed cycles : 3).[0m ×2 + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.915ms + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800209 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800209 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.973ms + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.359ms + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208326 ms (missed cycles : 4). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208326 ms (missed cycles : 4).[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.572ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093525 ms (missed cycles : 4). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093525 ms (missed cycles : 4).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.416ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240334 ms (missed cycles : 5). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240334 ms (missed cycles : 5).[0m ×2 + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.743ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456934 ms (missed cycles : 3). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456934 ms (missed cycles : 3).[0m ×2 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.323ms ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.345ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032436 ms (missed cycles : 4). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032436 ms (missed cycles : 4).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462732 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462732 ms (missed cycles : 3).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.929ms + 25.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.495ms + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617988 ms (missed cycles : 3). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617988 ms (missed cycles : 3).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754993 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754993 ms (missed cycles : 3).[0m ×2 + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.769ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.296ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396382 ms (missed cycles : 3). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396382 ms (missed cycles : 3).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.186ms + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.194ms + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085482 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085482 ms (missed cycles : 3).[0m ×2 + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.380ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.771428 ms (missed cycles : 5). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.771428 ms (missed cycles : 5).[0m ×2 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.386ms + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.192ms + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220532 ms (missed cycles : 4). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220532 ms (missed cycles : 4).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.266ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974337 ms (missed cycles : 3). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974337 ms (missed cycles : 3).[0m ×2 + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.106ms + 33.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.424ms + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388862 ms (missed cycles : 4). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388862 ms (missed cycles : 4).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112707 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112707 ms (missed cycles : 2).[0m ×2 + 34.77sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.79sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140616 ms (missed cycles : 2). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140616 ms (missed cycles : 2).[0m ×2 + 36.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.968ms + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296228 ms (missed cycles : 3). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296228 ms (missed cycles : 3).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842550 ms (missed cycles : 3). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842550 ms (missed cycles : 3).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.509ms + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440805 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440805 ms (missed cycles : 3).[0m ×2 + 38.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.920ms + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883299 ms (missed cycles : 3). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883299 ms (missed cycles : 3).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786419 ms (missed cycles : 5). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786419 ms (missed cycles : 5).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530280 ms (missed cycles : 3). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530280 ms (missed cycles : 3).[0m ×2 + 41.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.325ms + 42.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.615ms + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553829 ms (missed cycles : 6). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553829 ms (missed cycles : 6).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101922 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101922 ms (missed cycles : 2).[0m ×2 + 44.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.848ms + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939061 ms (missed cycles : 5). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939061 ms (missed cycles : 5).[0m ×2 + 45.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.268ms + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417348 ms (missed cycles : 3). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417348 ms (missed cycles : 3).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977808 ms (missed cycles : 2). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977808 ms (missed cycles : 2).[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586697 ms (missed cycles : 2). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586697 ms (missed cycles : 2).[0m ×2 + 48.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.866ms + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873583 ms (missed cycles : 2). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873583 ms (missed cycles : 2).[0m ×2 + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203611 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203611 ms (missed cycles : 3).[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562073 ms (missed cycles : 3). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562073 ms (missed cycles : 3).[0m ×2 + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221537 ms (missed cycles : 4). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221537 ms (missed cycles : 4).[0m ×2 + 52.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832250 ms (missed cycles : 2). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832250 ms (missed cycles : 2).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250928 ms (missed cycles : 3). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250928 ms (missed cycles : 3).[0m ×2 + 55.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.065ms + 55.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678909 ms (missed cycles : 3). + 55.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678909 ms (missed cycles : 3).[0m ×2 + 56.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.286ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647637 ms (missed cycles : 3). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647637 ms (missed cycles : 3).[0m ×2 + 57.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914349 ms (missed cycles : 3). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914349 ms (missed cycles : 3).[0m ×2 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 59.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 60.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 60.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 60.69sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.80sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 60.80sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.00sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.00sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.28sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 61.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 61.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 61.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 61.69sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 62.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 62.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 63.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 63.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.0s | 187 warnings · 232 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.655ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793766051.61907554 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1793766051638716581, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.443ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793766052.21123648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.88sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.900ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.99sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.99sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.99sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200898 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200898 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194003 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194003 ms (missed cycles : 3).[0m ×2 + 8.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.933ms + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.598ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618004 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618004 ms (missed cycles : 3).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.612ms + 10.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.300ms + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137695 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137695 ms (missed cycles : 3).[0m ×2 + 11.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.630ms + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749598 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749598 ms (missed cycles : 3).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.051ms + 12.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.386ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290228 ms (missed cycles : 5). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290228 ms (missed cycles : 5).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.635ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809515 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809515 ms (missed cycles : 3).[0m ×2 + 13.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 14.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.177ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053952 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053952 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.855ms + 15.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.967ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178864 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178864 ms (missed cycles : 3).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.512ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799462 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799462 ms (missed cycles : 4).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.308ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.243ms + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059602 ms (missed cycles : 4). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059602 ms (missed cycles : 4).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.921ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249449 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249449 ms (missed cycles : 3).[0m ×2 + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.669ms + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.036ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271932 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271932 ms (missed cycles : 2).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.854ms + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.388ms + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990054 ms (missed cycles : 2). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990054 ms (missed cycles : 2).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.152ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020969 ms (missed cycles : 5). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020969 ms (missed cycles : 5).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.722ms + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.613ms + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145785 ms (missed cycles : 4). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145785 ms (missed cycles : 4).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.340ms + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.806ms + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509612 ms (missed cycles : 2). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509612 ms (missed cycles : 2).[0m ×2 + 25.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.357ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717909 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717909 ms (missed cycles : 2).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.491ms + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.671ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362125 ms (missed cycles : 4). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362125 ms (missed cycles : 4).[0m ×2 + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.179ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064666 ms (missed cycles : 4). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064666 ms (missed cycles : 4).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.877ms + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.481ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672729 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672729 ms (missed cycles : 2).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.554ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875531 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875531 ms (missed cycles : 3).[0m ×2 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.306ms + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.242ms + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131028 ms (missed cycles : 4). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131028 ms (missed cycles : 4).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.724ms + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.714ms + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074187 ms (missed cycles : 2). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074187 ms (missed cycles : 2).[0m ×2 + 32.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.208ms + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719828 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719828 ms (missed cycles : 2).[0m ×2 + 34.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886945 ms (missed cycles : 3). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886945 ms (missed cycles : 3).[0m ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785485 ms (missed cycles : 5). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785485 ms (missed cycles : 5).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671636 ms (missed cycles : 2). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671636 ms (missed cycles : 2).[0m ×2 + 37.12sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105049 ms (missed cycles : 4). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105049 ms (missed cycles : 4).[0m ×2 + 37.86sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717456 ms (missed cycles : 2). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717456 ms (missed cycles : 2).[0m ×2 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469824 ms (missed cycles : 5). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469824 ms (missed cycles : 5).[0m ×2 + 39.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.756ms + 40.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081132 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081132 ms (missed cycles : 3).[0m ×2 + 41.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.879ms + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131548 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131548 ms (missed cycles : 2).[0m ×2 + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.164ms + 42.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.289ms + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117416 ms (missed cycles : 5). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117416 ms (missed cycles : 5).[0m ×2 + 43.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.446ms + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387776 ms (missed cycles : 6). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387776 ms (missed cycles : 6).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.539892 ms (missed cycles : 6). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.539892 ms (missed cycles : 6).[0m ×2 + 45.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.870ms + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361440 ms (missed cycles : 3). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361440 ms (missed cycles : 3).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.479ms + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962534 ms (missed cycles : 5). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962534 ms (missed cycles : 5).[0m ×2 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.664ms + 47.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.770ms + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156604 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156604 ms (missed cycles : 2).[0m ×2 + 48.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.723ms + 48.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.235ms + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807661 ms (missed cycles : 2). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807661 ms (missed cycles : 2).[0m ×2 + 49.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.731ms + 50.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.186ms + 50.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878092 ms (missed cycles : 6). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878092 ms (missed cycles : 6).[0m ×2 + 51.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.445ms + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757333 ms (missed cycles : 4). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757333 ms (missed cycles : 4).[0m ×2 + 51.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.579ms + 52.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.703ms + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748690 ms (missed cycles : 3). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748690 ms (missed cycles : 3).[0m ×2 + 53.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201552 ms (missed cycles : 3). + 53.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201552 ms (missed cycles : 3).[0m ×2 + 54.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.656ms + 55.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011773 ms (missed cycles : 5). + 55.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011773 ms (missed cycles : 5).[0m ×2 + 55.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.469ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775482 ms (missed cycles : 2). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775482 ms (missed cycles : 2).[0m ×2 + 56.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793766105.66144538 seconds ×3 + 56.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793766105682031369, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 56.81sWARNlocal_costmap.local_costmapSensor origin at (-2.03, 11.18) is out of map bounds (-4.10, 5.00) to (0.88, 9.98). The costmap cannot raytrace for it. + 56.81sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 11.77) is out of map bounds (-4.10, 5.00) to (0.88, 9.98). The costmap cannot raytrace for it. + 56.91sWARNlocal_costmap.local_costmapSensor origin at (-2.03, 11.18) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 56.91sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 11.77) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 57.01sWARNlocal_costmap.local_costmapSensor origin at (-2.03, 11.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 57.01sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 11.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 57.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877934 ms (missed cycles : 4). + 57.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877934 ms (missed cycles : 4).[0m ×2 + 57.26sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.932ms + 57.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 57.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 57.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 57.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793766106.27348328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.293ms + 57.80sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333559 ms (missed cycles : 2). + 58.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333559 ms (missed cycles : 2).[0m ×2 + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689495 ms (missed cycles : 5). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689495 ms (missed cycles : 5).[0m ×2 + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118922 ms (missed cycles : 2). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118922 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 147 warnings · 425 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_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 + 2.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098867 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098867 ms (missed cycles : 3).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 1151 particles 811 points - 8.574ms + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290598 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290598 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381190 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381190 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391911 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391911 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220006 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220006 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596001 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596001 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071887 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071887 ms (missed cycles : 4).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296276 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296276 ms (missed cycles : 5).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046811 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046811 ms (missed cycles : 3).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792220 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792220 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307106 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307106 ms (missed cycles : 2).[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336640 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336640 ms (missed cycles : 2).[0m ×2 + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912772 ms (missed cycles : 2). + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912772 ms (missed cycles : 2).[0m ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223107 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223107 ms (missed cycles : 2).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666561 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666561 ms (missed cycles : 3).[0m ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072405 ms (missed cycles : 4). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072405 ms (missed cycles : 4).[0m ×2 + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384237 ms (missed cycles : 3). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384237 ms (missed cycles : 3).[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747160 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747160 ms (missed cycles : 2).[0m ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194361 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194361 ms (missed cycles : 2).[0m ×2 + 26.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520078 ms (missed cycles : 3). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520078 ms (missed cycles : 3).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075859 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075859 ms (missed cycles : 2).[0m ×2 + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921441 ms (missed cycles : 4). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921441 ms (missed cycles : 4).[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225770 ms (missed cycles : 2). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225770 ms (missed cycles : 2).[0m ×2 + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368920 ms (missed cycles : 3). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368920 ms (missed cycles : 3).[0m ×2 + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517384 ms (missed cycles : 3). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517384 ms (missed cycles : 3).[0m ×2 + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277976 ms (missed cycles : 2). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277976 ms (missed cycles : 2).[0m ×2 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160126 ms (missed cycles : 2). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160126 ms (missed cycles : 2).[0m ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369802 ms (missed cycles : 3). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369802 ms (missed cycles : 3).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637014 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637014 ms (missed cycles : 2).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397962 ms (missed cycles : 3). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397962 ms (missed cycles : 3).[0m ×2 + 37.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.223ms + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994916 ms (missed cycles : 2). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994916 ms (missed cycles : 2).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303056 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303056 ms (missed cycles : 2).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726419 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726419 ms (missed cycles : 2).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909467 ms (missed cycles : 2). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909467 ms (missed cycles : 2).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949235 ms (missed cycles : 3). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949235 ms (missed cycles : 3).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5).[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3).[0m ×2 + 46.63sINFOjoint_trajectory_controllerGoal reached, success! + 46.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793765948.68334913 seconds ×3 + 46.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.70sINFOstate_estimatorReceived a set_pose request (stamp: 1793765948705817789, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4).[0m ×2 + 47.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.945ms + 47.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.22sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793765949.28162384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.29sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2).[0m ×2 + 48.44sINFOobjective_server_nodeFound path in 0 iterations (2.5312e-05 s). ×2 + 48.51sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 48.84sINFOamclInitializing particles from estimated pose and covariance + 48.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 48.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0489988, y=-0.021066, yaw=-0.00315118 + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2).[0m ×2 + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.952ms + 49.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.435ms + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 50.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 50.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3).[0m ×2 + 50.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 117 warnings · 185 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564549 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564549 ms (missed cycles : 3).[0m ×2 + 1.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289429 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289429 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793766018.90724540 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816526 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816526 ms (missed cycles : 2).[0m ×2 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.62sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.62sINFOobjective_server_nodecaller: ×4 + 2.62sINFOobjective_server_nodetype: 0 ×4 + 2.62sINFOobjective_server_nodename: "" ×4 + 2.62sINFOobjective_server_nodeinstance_id: "" ×4 + 2.62sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793766020.49888563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083095 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083095 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031675 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031675 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001893 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001893 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649994 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649994 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531602 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531602 ms (missed cycles : 3).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.903ms + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480812 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480812 ms (missed cycles : 2).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313118 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313118 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.564ms + 10.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117306 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117306 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.797ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701502 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701502 ms (missed cycles : 3).[0m ×2 + 11.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.181ms + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.745ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477930 ms (missed cycles : 5). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477930 ms (missed cycles : 5).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.722ms + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984746 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984746 ms (missed cycles : 3).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.469ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.569ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437251 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437251 ms (missed cycles : 3).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.626ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.644ms + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723867 ms (missed cycles : 4). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723867 ms (missed cycles : 4).[0m ×2 + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329171 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329171 ms (missed cycles : 3).[0m ×2 + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.179ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.037ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401640 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401640 ms (missed cycles : 2).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562608 ms (missed cycles : 3). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562608 ms (missed cycles : 3).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.266ms + 19.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498077 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498077 ms (missed cycles : 3).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.027ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154339 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154339 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.525ms + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.828ms + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671514 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671514 ms (missed cycles : 3).[0m ×2 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.176ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483339 ms (missed cycles : 3). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483339 ms (missed cycles : 3).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.786ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.363ms + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192564 ms (missed cycles : 2). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192564 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.989ms + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939035 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939035 ms (missed cycles : 3).[0m ×2 + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.599ms + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.547ms + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296770 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296770 ms (missed cycles : 2).[0m ×2 + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.806ms + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773177 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773177 ms (missed cycles : 3).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.749ms + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951384 ms (missed cycles : 3). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.951384 ms (missed cycles : 3).[0m ×2 + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.609ms + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.872ms + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094848 ms (missed cycles : 3). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094848 ms (missed cycles : 3).[0m ×2 + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.502ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054615 ms (missed cycles : 2). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054615 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.267ms + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.655ms + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3).[0m ×2 + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 33.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793766051.61907554 seconds ×3 + 33.83sINFOstate_estimatorReceived a set_pose request (stamp: 1793766051638716581, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 33.89sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 33.89sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 33.98sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.98sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.443ms + 34.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793766052.21123648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2).[0m ×2 + 34.82sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2).[0m ×2 + 35.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.96sINFOamclInitializing particles from estimated pose and covariance + 35.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 36.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.900ms + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.4s | 74 warnings · 258 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063273 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063273 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385071 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385071 ms (missed cycles : 2).[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.020ms + 2.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561078 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561078 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793766252.88115501 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793766252902090170, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.18sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-4.85, 6.60) to (0.13, 11.58). The costmap cannot raytrace for it. + 2.18sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-4.85, 6.60) to (0.13, 11.58). The costmap cannot raytrace for it. + 2.29sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.29sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.46sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.351ms + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793766253.52165651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039974 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039974 ms (missed cycles : 3).[0m ×2 + 3.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.00sWARNglobal_costmap.global_costmapSensor origin at (3.18, -3.97) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.00sWARNglobal_costmap.global_costmapSensor origin at (2.83, -4.79) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304588 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304588 ms (missed cycles : 3).[0m ×2 + 4.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.20sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0551763, y=-0.0167223, yaw=-0.0174535 + 4.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.691ms + 5.00sWARNglobal_costmap.global_costmapSensor origin at (3.18, -3.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687376 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687376 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283781 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283781 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512503 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512503 ms (missed cycles : 4).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352768 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352768 ms (missed cycles : 3).[0m ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421428 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421428 ms (missed cycles : 3).[0m ×2 + 9.53sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (7.49e-07 s). ×2 + 10.31sINFOobjective_server_nodeFound path in 33 iterations (0.0351087 s). ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515571 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515571 ms (missed cycles : 3).[0m ×2 + 10.82sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 11.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013094 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013094 ms (missed cycles : 3).[0m ×2 + 11.62sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 12.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867725 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867725 ms (missed cycles : 2).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085237 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085237 ms (missed cycles : 2).[0m ×2 + 14.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.528ms + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491812 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491812 ms (missed cycles : 3).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.248ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168469 ms (missed cycles : 4). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168469 ms (missed cycles : 4).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.819ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.524ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199563 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199563 ms (missed cycles : 3).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.589ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2).[0m ×2 + 18.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793766269.32386589 seconds ×3 + 18.53sINFOstate_estimatorReceived a set_pose request (stamp: 1793766269346997641, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 18.93sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 6.924ms + 19.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2).[0m ×2 + 19.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793766269.95415854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.12sINFOmove_groupClearing octomap...[0m ×2 + 19.12sINFOmove_groupOctomap cleared.[0m ×2 + 19.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2).[0m ×2 + 20.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793766271.08431458 seconds ×3 + 20.64sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 20.64sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 20.64sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570262, y=-0.0171767, yaw=-0.0183971 + 20.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793766271.66980743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.074ms + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4).[0m ×2 + 21.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793766272.68996286 seconds ×3 + 22.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966075 ms (missed cycles : 3). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 120 errors · 30 warnings · 581 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.589ms + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2).[0m ×2 + 1.20sINFOjoint_trajectory_controllerGoal reached, success! + 1.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793766269.32386589 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.25sINFOstate_estimatorReceived a set_pose request (stamp: 1793766269346997641, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.65sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 6.924ms + 1.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.76sINFOobjective_server_nodecaller: ×4 + 1.76sINFOobjective_server_nodetype: 0 ×4 + 1.76sINFOobjective_server_nodename: "" ×4 + 1.76sINFOobjective_server_nodeinstance_id: "" ×4 + 1.76sINFOobjective_server_node ×4 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793766269.95415854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793766271.08431458 seconds ×3 + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.36sINFOamclInitializing particles from estimated pose and covariance + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570262, y=-0.0171767, yaw=-0.0183971 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793766271.66980743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.074ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793766272.68996286 seconds ×3 + 4.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966075 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966075 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081821 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081821 ms (missed cycles : 3).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280362 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280362 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616933 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616933 ms (missed cycles : 3).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337981 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337981 ms (missed cycles : 3).[0m ×2 + 10.10sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.11sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.12sERRORweb_video_auth_proxy-41process has died [pid 8235, 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 + 10.12sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORweb_bridge_auth_proxy-40process has died [pid 8221, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.12sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.18sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.19sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.19sINFOvideo_server-39process has finished cleanly [pid 8220] ×2 + 10.19sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.20sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.22sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.23sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.24sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.25sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.26sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.27sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934549 ms (missed cycles : 2). + 10.29sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.30sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.31sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.33sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.34sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.36sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.36sINFOcontroller_managerShutdown request received.... + 10.36sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.36sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.36sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.36sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.36sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.36sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.36sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.37sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.37sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.37sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.37sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.37sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.37sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.37sINFOcontroller_managerShutting down the controller manager. + 10.37sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.39sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.40sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.41sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.42sERRORmove_group-25process has died [pid 8184, 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_kx7085w8 --params-file /tmp/launch_params_1hfeq5lc --params-file /tmp/launch_params_0uyqz4zn --params-file /tmp/launch_params_qcj_cywe --params-file /tmp/launch_params_7yv0_rjm --params-file /tmp/launch_params_4j0sifl5']. ×2 + 10.42sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.43sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.44sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.45sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.46sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.48sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.49sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.49sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.49sINFOmap_serverDeactivating + 10.49sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.50sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.50sINFOmap_serverCleaning up + 10.50sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.50sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.50sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.50sINFOcontroller_serverDeactivating + 10.50sINFOlocal_costmap.local_costmapDeactivating + 10.50sINFOvideo_server2026/11/04 04:24:38 INF shutting down gracefully ×2 + 10.50sINFOvideo_server2026/11/04 04:24:38 INF [WebRTC] closing ×2 + 10.50sINFOvideo_server2026/11/04 04:24:38 INF [RTSP] closing ×2 + 10.50sINFOvideo_server2026/11/04 04:24:38 INF waiting for running hooks ×2 + 10.50sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.50sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.50sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.50sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934549 ms (missed cycles : 2).[0m ×2 + 10.50sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.50sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.50sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.50sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.50sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.51sERRORmove_groupStack trace (most recent call last) in thread 8848: ×2 + 10.51sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.51sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.51sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.51sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd41f9f0cc3, in __clone ×2 + 10.51sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd41f963b83, in ×2 + 10.51sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd41fbf4db3, in ×2 + 10.51sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fd42035ee94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.51sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.51sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.51sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.51sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.51sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.51sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.51sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.51sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd41ff88620, in rclcpp::Rate::sleep() ×2 + 10.51sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd41fecad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd41fe8c087, in ×2 + 10.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd41fbc3390, in __cxa_throw ×2 + 10.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd41fbada54, in std::terminate() ×2 + 10.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd41fbc30d9, in ×2 + 10.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd41fbadff4, in ×2 + 10.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd41f8ef8fe, in abort ×2 + 10.51sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd41f90c27d, in raise ×2 + 10.51sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd41f965c0c, in pthread_kill ×2 + 10.51sERRORmove_groupAborted (Signal sent by tkill() 8184 0) ×2 + 10.51sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.51sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.51sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.51sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.51sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.51sINFOcontroller_serverCleaning up + 10.52sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.52sINFOlocal_costmap.local_costmapCleaning up + 10.52sERRORamclThe bond connection to the lifecycle manager has been broken + 10.57sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.57sINFOsmoother_serverDeactivating + 10.57sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.58sINFOsmoother_serverCleaning up + 10.58sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.58sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.58sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.58sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.58sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.58sINFOvelocity_smootherDeactivating + 10.58sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.59sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.59sINFOplanner_serverDeactivating + 10.59sINFOglobal_costmap.global_costmapDeactivating + 10.73sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.73sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.74sINFOplanner_serverCleaning up + 10.75sINFOglobal_costmap.global_costmapCleaning up + 10.76sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.77sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.79sINFOwaypoint_followerDeactivating + 10.79sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.80sINFObehavior_serverDeactivating + 10.80sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.81sINFObehavior_serverCleaning up + 10.81sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.81sINFObt_navigatorDeactivating + 10.81sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.82sINFObt_navigatorCleaning up + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.99sERRORbt_navigatorUnable to start transition 4 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.99sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.99sINFObt_navigatorCompleted Cleaning up + 10.99sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.99sINFOwaypoint_followerCleaning up + 10.99sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.99sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.00sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.00sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.00sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.00sINFOvelocity_smootherCleaning up + 11.00sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.00sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.00sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.02sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.02sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.02sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.02sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.02sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.02sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.24sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.25sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.25sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.25sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.25sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.25sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.25sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.25sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.25sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.25sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.25sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.25sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.25sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.25sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.25sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.25sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.25sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.25sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.25sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.25sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.25sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.25sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8212] ×2 + 11.26sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.31sERRORjoint_state_visualization_relay-37process has died [pid 8207, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay --ros-args --params-file /tmp/launch_params_s9jk71my']. ×2 + 11.31sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.32sERRORtf_visualization_relay-36process has died [pid 8206, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_lhqdcryb']. ×2 + 11.32sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.35sERRORcomponent_container_isolated-1process has died [pid 8017, exit code -11, 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_o1i6b8t3 --params-file /tmp/launch_params_9wa_vi0d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.35sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8189] ×2 + 11.37sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8187] ×2 + 11.37sINFOui_teleop_bridge-34process has finished cleanly [pid 8201] ×2 + 11.37sINFOexecute_objective_bridge-33process has finished cleanly [pid 8200] ×2 + 11.41sINFOparameter_manager_node-26process has finished cleanly [pid 8185] ×2 + 11.43sINFOwaypoint_manager_node-27process has finished cleanly [pid 8186] ×2 + 11.44sINFOrelay-11process has finished cleanly [pid 8130] ×2 + 11.45sINFOrelay-10process has finished cleanly [pid 8129] ×2 + 11.46sINFOcomponent_container_mt-32process has finished cleanly [pid 8194] ×2 + 11.46sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8025] ×2 + 11.47sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8131] ×2 + 11.47sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8024] ×2 + 11.48sINFOobjective_server_node[2026-11-04 04:24:39.591] [moveit_pro_license] [critical] ×2 + 11.48sINFOobjective_server_node************************************************* ×4 + 11.48sINFOobjective_server_node* MoveIt Pro License ×2 + 11.48sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.48sINFOstatic_transform_publisher-7process has finished cleanly [pid 8023] ×2 + 11.49sINFOstatic_transform_publisher-6process has finished cleanly [pid 8022] ×2 + 11.50sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.50sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.50sINFOlidar_flattener.pymain() ×2 + 11.50sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.50sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.50sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.50sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.50sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.50sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.50sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.50sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.50sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.50sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.50sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.52sINFOstatic_transform_publisher-3process has finished cleanly [pid 8019] ×2 + 11.54sERRORlidar_flattener.py-5process has died [pid 8021, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_2yylxvmy']. ×2 + 11.69sINFOobjective_server_node_main-30process has finished cleanly [pid 8190] ×2 + 11.69sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.49sINFOcomponent_container_mt-31process has finished cleanly [pid 8191] ×2 + 12.50sINFOodom_world_drift-4process has finished cleanly [pid 8020] ×2 + 12.82sERRORcomponent_container_isolated-2process has died [pid 8018, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_o1i6b8t3 --params-file /tmp/launch_params__nt4kh9e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.04sINFOros2_control_node-13process has finished cleanly [pid 8132] ×2 + 13.18sINFOweb_bridge-35process has finished cleanly [pid 8203] ×2 + 13.18sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 69 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201552 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201552 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.656ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011773 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011773 ms (missed cycles : 5).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.469ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775482 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775482 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793766105.66144538 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793766105682031369, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.03, 11.18) is out of map bounds (-4.10, 5.00) to (0.88, 9.98). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 11.77) is out of map bounds (-4.10, 5.00) to (0.88, 9.98). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.03, 11.18) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 11.77) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.03, 11.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-2.71, 11.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877934 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877934 ms (missed cycles : 4).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.932ms + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.36sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793766106.27348328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.293ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333559 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333559 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689495 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689495 ms (missed cycles : 5).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118922 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118922 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090086 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090086 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338888 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338888 ms (missed cycles : 3).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.929ms + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.027ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432660 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432660 ms (missed cycles : 3).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140599 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140599 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.917ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157262 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157262 ms (missed cycles : 4).[0m ×2 + 11.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.449ms + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.239ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366290 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366290 ms (missed cycles : 3).[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.938ms + 13.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOjoint_trajectory_controllerGot request to cancel goal + 13.50sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793766116.31974506 seconds ×3 + 13.54sINFOstate_estimatorReceived a set_pose request (stamp: 1793766116340452286, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349494 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349494 ms (missed cycles : 3).[0m ×2 + 13.70sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 2.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.70sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 2.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.465ms + 13.80sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.80sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 3.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.407ms + 14.04sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569259, y=-0.0171792, yaw=-0.0183993 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793766116.92356777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.792ms + 14.56sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016253 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016253 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902038 ms (missed cycles : 5). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902038 ms (missed cycles : 5).[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035717 ms (missed cycles : 4). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035717 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 49 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092188 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092188 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564549 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564549 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289429 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289429 ms (missed cycles : 3).[0m ×2 + 8.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793766018.90724540 seconds ×3 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816526 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816526 ms (missed cycles : 2).[0m ×2 + 10.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.14sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793766020.49888563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083095 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083095 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031675 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031675 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001893 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001893 ms (missed cycles : 4).[0m ×2 + 12.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 42 warnings · 149 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.987ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.786ms + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051431 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051431 ms (missed cycles : 2).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.967ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.158ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260918 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260918 ms (missed cycles : 5).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793766188.72376084 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240712 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240712 ms (missed cycles : 2).[0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1793766188745310818, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.549ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.831ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793766189.33461571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987152 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987152 ms (missed cycles : 5).[0m ×2 + 4.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395846 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395846 ms (missed cycles : 3).[0m ×2 + 5.19sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 5.19sINFOamclInitializing particles from estimated pose and covariance + 5.19sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 5.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549465, y=-0.0157809, yaw=-0.0121441 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.878ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005898 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005898 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 8.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 10.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.09sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 12.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 42 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.02sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793765948.68334913 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793765948705817789, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.945ms + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793765949.28162384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.5312e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 5.22sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 5.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0489988, y=-0.021066, yaw=-0.00315118 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.952ms + 5.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.435ms + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3).[0m ×2 + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.310ms + 7.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.774ms + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498728 ms (missed cycles : 5). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498728 ms (missed cycles : 5).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.617ms + 8.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.453ms + 8.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.818ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735474 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735474 ms (missed cycles : 2).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.132ms + 9.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.824ms + 9.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793765954.90178108 seconds ×3 + 9.32sINFOstate_estimatorReceived a set_pose request (stamp: 1793765954926490688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661061 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661061 ms (missed cycles : 3).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 5.463ms + 9.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 9.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 9.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 9.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.82sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.88sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793765955.50841069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.426ms + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746688 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746688 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868363 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868363 ms (missed cycles : 2).[0m ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148666 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148666 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 24 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168469 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168469 ms (missed cycles : 4).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.819ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.524ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199563 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199563 ms (missed cycles : 3).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.589ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793766269.32386589 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793766269346997641, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 6.924ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793766269.95415854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793766271.08431458 seconds ×3 + 4.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.85sINFOamclInitializing particles from estimated pose and covariance + 4.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570262, y=-0.0171767, yaw=-0.0183971 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793766271.66980743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.074ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793766272.68996286 seconds ×3 + 6.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966075 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966075 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081821 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081821 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 6 errors · 21 warnings · 727 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 0.81sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.37sINFOmove_groupClearing octomap...[0m ×4 + 2.37sINFOmove_groupOctomap cleared.[0m ×4 + 2.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 0.6s | 6 errors · 21 warnings · 817 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 0.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.06sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.06sINFOobjective_server_nodeobjective_name: "" ×12 + 0.06sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.06sINFOobjective_server_node ×68 + 0.06sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.06sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.06sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.06sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.06sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.06sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.06sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.06sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.06sINFOobjective_server_node</Control> ×24 + 0.06sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.06sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.06sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.06sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.06sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.06sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.06sINFOobjective_server_nodecaller: ×26 + 0.06sINFOobjective_server_nodetype: 0 ×26 + 0.06sINFOobjective_server_nodename: "" ×26 + 0.06sINFOobjective_server_nodeinstance_id: "" ×26 + 0.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 0.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 0.26sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.31sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 1.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 1.07sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 1.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.63sINFOmove_groupClearing octomap...[0m ×4 + 2.63sINFOmove_groupOctomap cleared.[0m ×4 + 2.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 341 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_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 + 2.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.95sINFOmove_groupClearing octomap...[0m ×2 + 2.95sINFOmove_groupOctomap cleared.[0m ×2 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098867 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098867 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793765948.68334913 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793765948705817789, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.945ms + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793765949.28162384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.5312e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 5.22sINFOamclInitializing particles from estimated pose and covariance + 5.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 5.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0489988, y=-0.021066, yaw=-0.00315118 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.952ms + 5.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.435ms + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3).[0m ×2 + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953345 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656094 ms (missed cycles : 5).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477975 ms (missed cycles : 3).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793765948.68334913 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793765948705817789, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522273 ms (missed cycles : 4).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.945ms + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793765949.28162384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298269 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.5312e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOjoint_trajectory_controllerReceived new action goal + 4.92sINFOjoint_trajectory_controllerAccepted new action goal + 4.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg) + 5.22sINFOamclInitializing particles from estimated pose and covariance + 5.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.2 deg)[0m ×2 + 5.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0489988, y=-0.021066, yaw=-0.00315118 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779591 ms (missed cycles : 2).[0m ×2 + 5.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.952ms + 5.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.435ms + 6.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3).[0m ×2 + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 89 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.596ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733595 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.935ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.310ms + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.774ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498728 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498728 ms (missed cycles : 5).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.617ms + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.453ms + 2.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.818ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735474 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735474 ms (missed cycles : 2).[0m ×2 + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.132ms + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.824ms + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793765954.90178108 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOstate_estimatorReceived a set_pose request (stamp: 1793765954926490688, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661061 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661061 ms (missed cycles : 3).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 5.463ms + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.59sINFOamclInitializing particles from estimated pose and covariance + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.59sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793765955.50841069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.426ms + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746688 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746688 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868363 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868363 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148666 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148666 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017335 ms (missed cycles : 4).[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.050ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801732 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.817ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488020 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793766012.45858383 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOstate_estimatorReceived a set_pose request (stamp: 1793766012482451668, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.30sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 2.40sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.50sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.70sINFOobjective_server_nodecaller: ×2 + 2.70sINFOobjective_server_nodetype: 0 ×2 + 2.70sINFOobjective_server_nodename: "" ×2 + 2.70sINFOobjective_server_nodeinstance_id: "" ×2 + 2.70sINFOobjective_server_node ×2 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793766013.06697845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.606ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.247ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272653 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110997 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 27 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.655ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793766051.61907554 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1793766051638716581, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.443ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793766052.21123648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.900ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate Hangar Loop | navigate_hangar_loop.xml | 0.0s | 27 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.655ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793766051.61907554 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1793766051638716581, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.443ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793766052.21123648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.900ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 27 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.655ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793766051.61907554 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1793766051638716581, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.443ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793766052.21123648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.900ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 27 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533066 ms (missed cycles : 6).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.655ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686853 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298874 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793766051.61907554 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1793766051638716581, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-4.75, 4.65) to (0.23, 9.63). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.443ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793766052.21123648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110142 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903759 ms (missed cycles : 2).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.900ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721083 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.99sINFOjoint_trajectory_controllerReceived new action goal + 5.99sINFOjoint_trajectory_controllerAccepted new action goal + 5.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457854 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 21 warnings · 587 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 0.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 0.07sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×2 + 0.08sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.08sINFOobjective_server_nodeobjective_name: "" ×6 + 0.08sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.08sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.08sINFOobjective_server_nodecaller: ×20 + 0.08sINFOobjective_server_nodetype: 0 ×20 + 0.08sINFOobjective_server_nodename: "" ×20 + 0.08sINFOobjective_server_nodeinstance_id: "" ×20 + 0.09sINFOobjective_server_node ×34 + 0.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.74sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.74sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.74sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.74sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.74sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.74sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.74sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.74sINFOobjective_server_node</Control> ×8 + 0.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.74sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.74sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.74sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.74sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 0.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312778 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079448 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793766195.22488832 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2). + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185285 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793766195.83096886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297372 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250201 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543505 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168469 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168469 ms (missed cycles : 4).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.819ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.524ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199563 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199563 ms (missed cycles : 3).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.589ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241788 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793766269.32386589 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793766269346997641, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOamclParticle filter update iteration stats: 1576 particles 811 points - 6.924ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957244 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793766269.95415854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357906 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793766271.08431458 seconds ×3 + 4.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.85sINFOamclInitializing particles from estimated pose and covariance + 4.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570262, y=-0.0171767, yaw=-0.0183971 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793766271.66980743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.074ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422413 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793766272.68996286 seconds ×3 + 6.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966075 ms (missed cycles : 3). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 errors · 21 warnings · 540 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.88sINFOmove_groupClearing octomap...[0m ×4 + 0.88sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 6 errors · 24 warnings · 593 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 0.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 0.07sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×2 + 0.08sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.08sINFOobjective_server_nodeobjective_name: "" ×6 + 0.08sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.08sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.08sINFOobjective_server_nodecaller: ×20 + 0.08sINFOobjective_server_nodetype: 0 ×20 + 0.08sINFOobjective_server_nodename: "" ×20 + 0.08sINFOobjective_server_nodeinstance_id: "" ×20 + 0.09sINFOobjective_server_node ×34 + 0.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.74sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.74sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.74sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.74sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.74sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.74sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.74sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.74sINFOobjective_server_node</Control> ×8 + 0.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.74sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.74sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.74sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.74sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 0.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.63sINFOmove_groupClearing octomap...[0m ×4 + 1.63sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 6 errors · 21 warnings · 811 info |
+ 0.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.07sINFOobjective_server_node ×66 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.07sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.07sINFOobjective_server_nodecaller: ×24 + 1.07sINFOobjective_server_nodetype: 0 ×24 + 1.07sINFOobjective_server_nodename: "" ×24 + 1.07sINFOobjective_server_nodeinstance_id: "" ×24 + 1.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 1.27sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 2.08sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.80sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.64sINFOmove_groupClearing octomap...[0m ×4 + 3.64sINFOmove_groupOctomap cleared.[0m ×4 + 3.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 7.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 7.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 errors · 18 warnings · 722 info |
+ 0.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239979 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.07sINFOobjective_server_node ×64 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.07sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.07sINFOobjective_server_nodecaller: ×22 + 1.07sINFOobjective_server_nodetype: 0 ×22 + 1.07sINFOobjective_server_nodename: "" ×22 + 1.07sINFOobjective_server_nodeinstance_id: "" ×22 + 1.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765898.92694044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.02720213 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 1.27sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 2.08sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.80sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 18 warnings · 724 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 0.81sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.37sINFOmove_groupClearing octomap...[0m ×4 + 2.37sINFOmove_groupOctomap cleared.[0m ×4 + 2.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 18 warnings · 724 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 0.81sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.37sINFOmove_groupClearing octomap...[0m ×4 + 2.37sINFOmove_groupOctomap cleared.[0m ×4 + 2.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 18 warnings · 724 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.12994599 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765899.20009995 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.79472160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037509 ms (missed cycles : 2).[0m ×2 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765899.89493895 seconds ×3 + 0.81sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765899.95720983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.01736903 seconds ×3 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.37sINFOmove_groupClearing octomap...[0m ×4 + 2.37sINFOmove_groupOctomap cleared.[0m ×4 + 2.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 errors · 21 warnings · 540 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.61818171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793765900.71835208 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793765900.78144932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793765900.86165905 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976144 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.88sINFOmove_groupClearing octomap...[0m ×4 + 0.88sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 21 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098867 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098867 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793765901.45235467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793765901.47250390 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456944 ms (missed cycles : 2).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793765902.05690336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793765902.11705852 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793765902.81063437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793765902.87081790 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793765903.56434011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793765903.58452916 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643991 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793765904.16433477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793765904.31491995 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793765904.92274618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793765904.99580336 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025511 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793765905.58532190 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692102 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936346 ms (missed cycles : 3).[0m ×2 | ||||