MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.7s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.0s	12 errors · 308 warnings · 1224 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-06-17-25-25-908243-ee32d1c181a4-9352 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 14.22sINFOstatic_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' + 14.22sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 14.33sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.36sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.37sINFOcontroller_managerupdate rate is 600 Hz + 14.37sINFOcontroller_managerOverruns handling is : enabled + 14.37sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.37sWARNcontroller_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. + 14.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583074 ms (missed cycles : 2). + 14.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.48sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.51sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.52sINFOros2_control_node-9process started with pid [9410] ×2 + 14.52sINFOmove_group-21process started with pid [9499] ×2 + 14.52sINFOparameter_manager_node-22process started with pid [9500] ×2 + 14.52sINFOwaypoint_manager_node-23process started with pid [9501] ×2 + 14.52sINFOmove_joint_resampler_node-24process started with pid [9520] ×2 + 14.52sINFOmove_end_effector_resampler_node-25process started with pid [9521] ×2 + 14.52sINFOobjective_server_node_main-26process started with pid [9522] ×2 + 14.52sINFOcomponent_container_mt-27process started with pid [9523] ×2 + 14.52sINFOcomponent_container_mt-28process started with pid [9524] ×2 + 14.52sINFOexecute_objective_bridge-29process started with pid [9525] ×2 + 14.52sINFOui_teleop_bridge-30process started with pid [9526] ×2 + 14.52sINFOweb_bridge-31process started with pid [9527] ×2 + 14.52sINFOtf2_web_republisher_node-32process started with pid [9528] ×2 + 14.53sINFOcontroller_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. + 14.55sINFOvideo_server-33process started with pid [9529] ×2 + 14.55sINFOweb_bridge_auth_proxy-34process started with pid [9530] ×2 + 14.55sINFOweb_video_auth_proxy-35process started with pid [9531] ×2 + 14.55sINFOcomponent_container_isolated-1process started with pid [9402] ×2 + 14.55sINFOcomponent_container_isolated-2process started with pid [9403] ×2 + 14.55sINFOstatic_transform_publisher-3process started with pid [9404] ×2 + 14.55sINFOstatic_transform_publisher-4process started with pid [9405] ×2 + 14.55sINFOodom_qos_relay.py-5process started with pid [9406] ×2 + 14.55sINFOforward_stereo_publisher.py-6process started with pid [9407] ×2 + 14.56sINFOscan_to_scan_filter_chain-7process started with pid [9408] ×2 + 14.57sINFOscan_to_scan_filter_chain-8process started with pid [9409] ×2 + 14.57sINFOros2-10process started with pid [9488] ×2 + 14.57sINFOros2-11process started with pid [9489] ×2 + 14.57sINFOros2-12process started with pid [9490] ×2 + 14.57sINFOros2-13process started with pid [9491] ×2 + 14.57sINFOros2-14process started with pid [9492] ×2 + 14.57sINFOros2-15process started with pid [9493] ×2 + 14.57sINFOros2-16process started with pid [9494] ×2 + 14.57sINFOros2-17process started with pid [9495] ×2 + 14.57sINFOros2-18process started with pid [9496] ×2 + 14.57sINFOros2-19process started with pid [9497] ×2 + 14.57sINFOros2-20process started with pid [9498] ×2 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.61sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.61sINFOcontroller_serverCreating controller server + 14.63sINFOlocal_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. + 14.63sINFOlocal_costmap.local_costmapCreating Costmap + 14.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.67sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.67sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.67sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.69sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.69sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.69sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.69sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.69sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.71sINFOmap_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. + 14.71sINFOmap_serverCreating + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.71sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.71sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.72sINFOsmoother_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. + 14.72sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.72sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.72sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.72sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.72sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.72sWARNros2_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 + 14.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583074 ms (missed cycles : 2).[0m ×2 + 14.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.72sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.74sINFOsmoother_serverCreating smoother server + 14.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.81sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.82sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.84sINFOplanner_serverCreating + 14.85sINFOlifecycle_manager_localizationCreating + 14.88sINFOglobal_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. + 14.88sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.89sINFOglobal_costmap.global_costmapCreating Costmap + 14.89sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.89sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.89sINFOmap_serverConfiguring + 14.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.92sINFObehavior_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. + 14.94sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.97sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.97sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.98sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.98sINFOamclConfiguring + 14.99sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.99sINFOmap_serverActivating + 14.99sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 15.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 15.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 15.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 15.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 15.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 15.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 15.02sINFObt_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. + 15.04sINFObt_navigatorCreating + 15.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 15.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 15.07sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 15.07sINFOrobot_state_publisherRobot initialized + 15.07sINFOcomponent_container_mtRobot initialized[0m ×2 + 15.08sINFOcontroller_managerReceived robot description from topic. + 15.08sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 15.08sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 15.08sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 15.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 15.10sINFOlifecycle_manager_localizationServer map_server connected with bond. + 15.10sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 15.10sINFOamclActivating + 15.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 15.10sINFOamclSubscribed to initial_pose_topic: /initialpose + 15.10sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 15.12sINFOamclSubscribed to map_topic: /map + 15.12sINFOamclSubscribed to scan_topic: /scan_merged + 15.12sINFOamclCreated reinitialize_global_localization service + 15.12sINFOamclCreated request_nomotion_update service + 15.12sINFOamclA new map was received + 15.12sINFOamclInitializing particle filter instance + 15.13sINFOvideo_server2026/08/06 17:25:44 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.13sINFOwaypoint_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. + 15.13sINFOvideo_server2026/08/06 17:25:44 INF configuration loaded from /tmp/moveit-webrtc-ke2ulxdx/mediamtx.yml ×2 + 15.13sINFOvideo_server2026/08/06 17:25:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.13sINFOvideo_server2026/08/06 17:25:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.13sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 15.13sINFOwaypoint_followerCreating + 15.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 15.14sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 15.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 15.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 15.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 15.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 15.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.19sINFOvelocity_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. + 15.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 15.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 15.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 15.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 15.23sWARNlaser_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. + 15.23sINFOlifecycle_manager_navigationCreating + 15.24sWARNlaser_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. + 15.24sWARNscan_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 + 15.28sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.31sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.31sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.31sINFOcontroller_serverConfiguring controller interface + 15.31sINFOcontroller_servergetting progress checker plugins.. + 15.31sINFOcontroller_servergetting goal checker plugins.. + 15.31sINFOcontroller_serverController frequency set to 20.0000Hz + 15.31sINFOlocal_costmap.local_costmapConfiguring + 15.33sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.37sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.39sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.39sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.39sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.44sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.45sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.45sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.46sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.46sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.50sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.51sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.51sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.52sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.52sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.52sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.52sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.52sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.53sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.53sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.53sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042164 ms (missed cycles : 3). + 15.55sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042164 ms (missed cycles : 3).[0m ×2 + 15.56sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.56sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.56sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.494672 seconds + 15.57sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.57sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.57sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.57sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.58sINFOcontroller_serverOptimizer reset ×2 + 15.58sINFOmove_groupLoaded robot model in 0.494672 seconds[0m ×2 + 15.58sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.58sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.61sINFOcontroller_serverController Server has FollowPath controllers available. + 15.62sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.63sINFOsmoother_serverConfiguring smoother server + 15.63sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.63sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.67sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.67sINFOplanner_serverConfiguring + 15.67sINFOglobal_costmap.global_costmapConfiguring + 15.68sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.69sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.69sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.69sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.70sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.73sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.73sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.73sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.80sINFOwaypoint_manager_nodeLoaded robot model in 0.399711 seconds[0m ×2 + 15.80sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.80sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.80sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.80sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.80sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.81sINFOplanner_serverPlanner Server has GridBased planners available. + 15.84sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.84sINFObehavior_serverConfiguring + 15.85sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.86sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.86sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.87sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.89sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.89sINFObehavior_serverConfiguring spin + 15.89sINFOamclParticle filter initialization completed + 15.89sINFOamclInitializing particles from estimated pose and covariance + 15.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.91sINFObehavior_serverConfiguring backup + 15.92sINFObehavior_serverConfiguring drive_on_heading + 15.93sINFObehavior_serverConfiguring assisted_teleop + 15.94sINFObehavior_serverConfiguring wait + 15.95sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.95sINFObt_navigatorConfiguring + 15.96sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.98sWARNbt_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 + 16.00sINFOamclThe bond connection to the lifecycle manager is now fully formed + 16.00sINFOlifecycle_manager_localizationServer amcl connected with bond. + 16.00sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 16.00sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 16.42sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.44sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.44sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.45sWARNmove_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. + 16.45sWARNmove_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. + 16.45sWARNmove_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 + 16.45sWARNmove_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 + 16.45sWARNmove_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. + 16.45sWARNmove_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. + 16.46sWARNmove_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. + 16.46sWARNmove_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. + 16.46sWARNmove_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. + 16.46sWARNmove_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. + 16.46sWARNmove_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. + 16.46sWARNmove_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 + 16.46sWARNmove_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 + 16.46sWARNmove_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 + 16.46sWARNmove_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 + 16.46sWARNmove_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 + 16.46sWARNmove_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. + 16.47sWARNmove_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 + 16.47sWARNmove_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 + 16.47sWARNmove_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 + 16.50sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.50sINFOwaypoint_followerConfiguring + 16.55sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.57sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.57sINFOvelocity_smootherConfiguring velocity smoother + 16.59sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.59sINFOcontroller_serverActivating + 16.59sINFOlocal_costmap.local_costmapActivating + 16.59sINFOlocal_costmap.local_costmapChecking transform + 16.59sINFOlocal_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. ×4 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566440 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566440 ms (missed cycles : 2).[0m ×2 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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 + 16.86sWARNwaypoint_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. + 16.86sWARNwaypoint_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. + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.87sWARNwaypoint_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 + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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. + 16.88sWARNwaypoint_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 + 16.88sWARNwaypoint_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 + 16.91sINFOmove_group[2026-08-06 17:25:46.436] [moveit_pro_license] [info] ×2 + 16.91sINFOmove_group************************************************* ×4 + 16.91sINFOmove_group* MoveIt Pro License ×2 + 16.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.14sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 17.14sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 17.15sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 17.15sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 17.16sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.21sINFOwaypoint_manager_node[2026-08-06 17:25:46.729] [moveit_pro_license] [info] ×2 + 17.21sINFOwaypoint_manager_node************************************************* ×4 + 17.21sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.21sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.64sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.64sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.64sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.64sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.64sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.64sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.64sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.65sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.65sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.65sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.65sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.65sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.65sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.65sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.66sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.66sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.70sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.70sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.71sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 18.16sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 18.16sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 18.16sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 18.16sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 18.16sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 18.16sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 18.16sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 18.16sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 18.16sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 18.16sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 18.16sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 18.16sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 18.16sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 18.16sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 18.16sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 18.16sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 18.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 18.17sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 18.17sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 18.17sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 18.17sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 18.17sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 18.17sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 18.17sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854960 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854960 ms (missed cycles : 2).[0m ×2 + 18.19sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.19sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.19sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.41sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.41sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.41sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.41sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.42sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.42sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 18.42sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 18.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.44sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 18.46sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.47sINFOcontroller_managerSuccessfully switched controllers! ×7 + 18.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 18.47sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.59sINFOlocal_costmap.local_costmapstart + 18.61sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 4.605ms + 18.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.64sWARNcomponent_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 + 18.69sWARNcontroller_serverParameter controller_server.verbose not found + 18.70sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.70sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.79sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.79sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.79sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.79sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.79sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 18.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 18.80sINFOobjective_server_node[2026-08-06 17:25:48.322] [moveit_pro_license] [info] ×2 + 18.80sINFOobjective_server_node************************************************* ×4 + 18.80sINFOobjective_server_node* MoveIt Pro License ×2 + 18.80sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.80sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.80sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.80sINFOsmoother_serverActivating + 18.80sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.83sINFOros2-12process has finished cleanly [pid 9490] ×2 + 18.84sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.89sINFOobjective_server_nodeLoaded robot model in 0.037393 seconds[0m ×2 + 18.90sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.90sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.90sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.90sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 18.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.91sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 18.91sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.91sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.91sINFOplanner_serverActivating + 18.91sINFOglobal_costmap.global_costmapActivating + 18.91sINFOglobal_costmap.global_costmapChecking transform + 18.91sINFOglobal_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 1786037148.405825 but the earliest data is at time 1786037149.009215, when looking up transform from frame [ridgeback_base_link] to frame [map] + 18.92sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.92sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.92sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.92sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.92sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.93sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.93sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.93sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.93sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.93sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.93sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.93sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 18.94sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 18.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.94sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 19.04sINFOcomponent_container_mtLoaded robot model in 0.40289 seconds[0m ×2 + 19.04sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 19.04sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 19.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 19.12sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 19.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 19.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 19.14sINFOstreaming_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) + 19.14sINFOcomponent_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 + 19.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 19.19sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377117 ms (missed cycles : 3). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377117 ms (missed cycles : 3).[0m ×2 + 19.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 19.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 19.32sINFOros2-14process has finished cleanly [pid 9492] ×2 + 19.39sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 19.39sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 19.39sWARNobjective_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. + 19.39sWARNobjective_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. + 19.39sWARNobjective_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. + 19.39sWARNobjective_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. + 19.39sWARNobjective_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. + 19.39sWARNobjective_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 + 19.39sWARNobjective_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 + 19.39sWARNobjective_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. + 19.39sWARNobjective_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. + 19.39sWARNobjective_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. + 19.39sWARNobjective_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 + 19.39sWARNobjective_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 + 19.39sWARNobjective_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. + 19.39sWARNobjective_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 + 19.39sWARNobjective_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 + 19.39sWARNobjective_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. + 19.39sWARNobjective_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 + 19.39sWARNobjective_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 + 19.39sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786037147.809 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.39sWARNobjective_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 + 19.39sWARNobjective_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 + 19.41sINFOglobal_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 1786037148.915501 but the earliest data is at time 1786037149.009215, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.47sINFOobjective_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 + 19.47sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.48sWARNplanning_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. + 19.48sWARNplanning_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. + 19.48sWARNcomponent_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 + 19.48sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNcomponent_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 + 19.49sWARNplanning_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. + 19.49sWARNplanning_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. + 19.49sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.49sWARNplanning_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. + 19.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.49sWARNplanning_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. + 19.49sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.50sWARNcomponent_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 + 19.50sWARNcomponent_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 + 19.50sWARNcomponent_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 + 19.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 19.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 19.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 19.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 19.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.59sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.67sINFOcomponent_container_mt[2026-08-06 17:25:49.195] [moveit_pro_license] [info] ×2 + 19.67sINFOcomponent_container_mt************************************************* ×4 + 19.67sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.67sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.74sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.74sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.80sINFOmove_groupMoveGroup debug mode is ON + 19.80sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.80sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.85sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.85sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.85sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.86sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.86sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.86sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.91sINFOglobal_costmap.global_costmapstart + 19.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.94sINFOros2_control_node[2026-08-06 17:25:49.464] [info] Controller state will be published at 20 Hz. ×2 + 19.94sINFOros2_control_node[2026-08-06 17:25:49.465] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.99sINFOmove_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 ****************************************************** + 19.99sINFOmove_group ×8 + 19.99sINFOmove_group****************************************************** ×4 + 19.99sINFOmove_group* MoveGroup using: ×2 + 19.99sINFOmove_group* - apply_planning_scene_service ×2 + 19.99sINFOmove_group* - clear_octomap_service ×2 + 19.99sINFOmove_group* - get_group_urdf ×2 + 19.99sINFOmove_group* - load_geometry_from_file ×2 + 19.99sINFOmove_group* - get_planning_scene_service ×2 + 19.99sINFOmove_group* - kinematics_service ×2 + 19.99sINFOmove_group* - save_geometry_to_file ×2 + 19.99sINFOmove_group* - GetPlanningGroups ×2 + 19.99sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.99sINFOmove_group[0m ×2 + 19.99sINFOmove_group[92mYou can start planning now![0m ×2 + 20.07sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.07sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.08sWARNros2_control_nodeCamera render tick took 0.83 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694544 ms (missed cycles : 3). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694544 ms (missed cycles : 3).[0m ×2 + 20.26sWARNobjective_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 + 20.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 20.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 20.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.29sINFOros2-19process has finished cleanly [pid 9497] ×2 + 20.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.34sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.34sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.35sINFOforce_torque_sensor_broadcasterconfigure successful + 20.35sINFOros2_control_nodeconfigure successful[0m ×6 + 20.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.68sINFOros2-10process has finished cleanly [pid 9488] ×2 + 20.69sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.69sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.69sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 20.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 20.75sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 20.75sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 20.75sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 20.75sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 20.76sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 20.76sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 20.76sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 20.76sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 20.96sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 20.97sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 21.07sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 21.07sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 21.07sINFObehavior_serverActivating + 21.07sINFObehavior_serverActivating spin + 21.07sINFObehavior_serverActivating backup + 21.07sINFObehavior_serverActivating drive_on_heading + 21.07sINFObehavior_serverActivating assisted_teleop + 21.07sINFObehavior_serverActivating wait + 21.07sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 21.09sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.09sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.09sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.09sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.10sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 21.10sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 21.12sINFOros2-11process has finished cleanly [pid 9489] ×2 + 21.16sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.16sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.16sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.16sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.17sINFOplatform_velocity_controllerconfigure successful + 21.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.18sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.18sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 21.18sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 21.18sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 21.18sINFObt_navigatorActivating + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551639 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551639 ms (missed cycles : 2).[0m ×2 + 21.25sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.35sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.35sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.35sINFOwaypoint_followerActivating + 21.35sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.46sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.46sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.46sINFOvelocity_smootherActivating + 21.46sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.52sINFOros2-13process has finished cleanly [pid 9491] ×2 + 21.52sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.52sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 21.52sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 21.52sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.52sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 21.52sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 21.56sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 21.56sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 21.56sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.58sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 21.58sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 21.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 21.59sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 21.59sINFOplatform_velocity_controller_nav2configure successful + 21.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 22.01sINFOros2-15process has finished cleanly [pid 9493] ×2 + 22.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.04sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.04sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 22.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 22.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007459 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007459 ms (missed cycles : 2).[0m ×2 + 22.63sINFOros2_control_node[2026-08-06 17:25:52.152] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.63sINFOros2_control_node[2026-08-06 17:25:52.154] [info] Controller state will be published at 10 Hz. ×2 + 22.63sINFOros2_control_node[2026-08-06 17:25:52.156] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.99sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.99sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.99sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 22.99sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.99sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 23.00sINFOros2-17process has finished cleanly [pid 9495] ×2 + 23.06sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 23.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 23.06sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 23.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824995 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824995 ms (missed cycles : 3).[0m ×2 + 23.47sINFOros2_control_node[2026-08-06 17:25:52.999] [info] Controller state will be published at 20 Hz. ×2 + 23.48sINFOros2_control_node[2026-08-06 17:25:53.000] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.84sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 23.84sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 23.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 23.84sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 23.85sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 23.85sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 23.85sINFOros2-20process has finished cleanly [pid 9498] ×2 + 23.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 23.95sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 23.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 23.95sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 23.95sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 23.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 23.95sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 23.95sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 23.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 23.95sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 23.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 23.95sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 23.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 23.96sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 23.96sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 24.25sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 24.25sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 24.25sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe + 24.25sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 24.25sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 24.25sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4qpi3wpz --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_kw0gbawt --params-file /tmp/launch_params_mh5f2lfe [0m ×2 + 24.27sINFOros2-16process has finished cleanly [pid 9494] ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906404 ms (missed cycles : 3). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906404 ms (missed cycles : 3).[0m ×2 + 24.33sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 24.34sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 24.34sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 24.34sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 24.77sINFOros2_control_node[2026-08-06 17:25:54.290] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.77sINFOros2_control_node[2026-08-06 17:25:54.291] [info] Controller state will be published at 10 Hz. ×2 + 24.77sINFOros2_control_node[2026-08-06 17:25:54.292] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.11sINFOros2-18process has finished cleanly [pid 9496] ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 28.20sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 29.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.98sINFOmove_groupClearing octomap...[0m ×2 + 29.98sINFOmove_groupOctomap cleared.[0m ×2 + 29.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 30.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 31.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 31.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.87sINFOobjective_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 + 31.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.6s	3 errors · 235 warnings · 213 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606478 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606478 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368670 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368670 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391245 ms (missed cycles : 4). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391245 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603902 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603902 ms (missed cycles : 2).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 4.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOjoint_trajectory_controllerGot request to cancel goal + 4.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.20sERRORobjective_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: 1786037370.53589535 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-0.69, 3.83) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 3.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.823ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 4.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786037371.09194231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206365 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206365 ms (missed cycles : 3).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.337ms + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.84e-06 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.027ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.846ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.817ms + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062412 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062412 ms (missed cycles : 2).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.734ms + 6.50sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 6.041ms + 6.80sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 3.161ms + 6.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.01sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.01sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.01sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.01sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652552 ms (missed cycles : 4). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652552 ms (missed cycles : 4).[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.804ms + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 7.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms ×2 + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806822 ms (missed cycles : 3). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806822 ms (missed cycles : 3).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902001 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902001 ms (missed cycles : 2).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443307 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443307 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719265 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719265 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679875 ms (missed cycles : 4). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679875 ms (missed cycles : 4).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800521 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800521 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308771 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308771 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364054 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364054 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952938 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952938 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273639 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273639 ms (missed cycles : 3).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089203 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089203 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576238 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576238 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940315 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940315 ms (missed cycles : 3).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025092 ms (missed cycles : 2). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025092 ms (missed cycles : 2).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278179 ms (missed cycles : 5). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278179 ms (missed cycles : 5).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077188 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077188 ms (missed cycles : 2).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317226 ms (missed cycles : 5). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317226 ms (missed cycles : 5).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348770 ms (missed cycles : 3). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348770 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms ×2 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939669 ms (missed cycles : 4). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939669 ms (missed cycles : 4).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570049 ms (missed cycles : 3). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570049 ms (missed cycles : 3).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024916 ms (missed cycles : 3). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024916 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031171 ms (missed cycles : 4). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031171 ms (missed cycles : 4).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 31.41sINFOros2_control_nodeMuJoCo sim: 1.35% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508874 ms (missed cycles : 3). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508874 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011479 ms (missed cycles : 4). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011479 ms (missed cycles : 4).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552607 ms (missed cycles : 3). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552607 ms (missed cycles : 3).[0m ×2 + 34.30sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.30sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.62sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196843 ms (missed cycles : 4). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196843 ms (missed cycles : 4).[0m ×2 + 35.43sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.43sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862658 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862658 ms (missed cycles : 3).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723051 ms (missed cycles : 2). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723051 ms (missed cycles : 2).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363783 ms (missed cycles : 3). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363783 ms (missed cycles : 3).[0m ×2 + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459737 ms (missed cycles : 2). + 38.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459737 ms (missed cycles : 2).[0m ×2 + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780490 ms (missed cycles : 5). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780490 ms (missed cycles : 5).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425226 ms (missed cycles : 3). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425226 ms (missed cycles : 3).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230523 ms (missed cycles : 2). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230523 ms (missed cycles : 2).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971486 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971486 ms (missed cycles : 3).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108516 ms (missed cycles : 2). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108516 ms (missed cycles : 2).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677088 ms (missed cycles : 3). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677088 ms (missed cycles : 3).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464394 ms (missed cycles : 3). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464394 ms (missed cycles : 3).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235751 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235751 ms (missed cycles : 2).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947728 ms (missed cycles : 4). + 48.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947728 ms (missed cycles : 4).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713192 ms (missed cycles : 5). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713192 ms (missed cycles : 5).[0m ×2 + 50.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892623 ms (missed cycles : 3). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892623 ms (missed cycles : 3).[0m ×2 + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731368 ms (missed cycles : 2). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731368 ms (missed cycles : 2).[0m ×2 + 52.17sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 52.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845760 ms (missed cycles : 5). + 52.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845760 ms (missed cycles : 5).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066583 ms (missed cycles : 4). + 53.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066583 ms (missed cycles : 4).[0m ×2 + 54.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500700 ms (missed cycles : 4). + 54.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500700 ms (missed cycles : 4).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240021 ms (missed cycles : 2). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240021 ms (missed cycles : 2).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220790 ms (missed cycles : 2). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220790 ms (missed cycles : 2).[0m ×2 + 57.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544844 ms (missed cycles : 4). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544844 ms (missed cycles : 4).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 59.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 59.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510372 ms (missed cycles : 3). + 59.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510372 ms (missed cycles : 3).[0m ×2 + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994973 ms (missed cycles : 3). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994973 ms (missed cycles : 3).[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms ×2 + 61.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522694 ms (missed cycles : 3). + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522694 ms (missed cycles : 3).[0m ×2 + 61.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 62.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442165 ms (missed cycles : 4). + 62.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442165 ms (missed cycles : 4).[0m ×2 + 62.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 63.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307555 ms (missed cycles : 2). + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307555 ms (missed cycles : 2).[0m ×2 + 63.97sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 64.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389351 ms (missed cycles : 3). + 64.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389351 ms (missed cycles : 3).[0m ×2 + 65.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634978 ms (missed cycles : 3). + 65.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634978 ms (missed cycles : 3).[0m ×2 + 66.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191291 ms (missed cycles : 4). + 66.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191291 ms (missed cycles : 4).[0m ×2 + 67.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251945 ms (missed cycles : 2). + 67.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251945 ms (missed cycles : 2).[0m ×2 + 68.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 68.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242261 ms (missed cycles : 4). + 68.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242261 ms (missed cycles : 4).[0m ×2 + 69.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 69.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058640 ms (missed cycles : 2). + 69.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058640 ms (missed cycles : 2).[0m ×2 + 70.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338179 ms (missed cycles : 3). + 70.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338179 ms (missed cycles : 3).[0m ×2 + 71.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.695ms + 72.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804254 ms (missed cycles : 5). + 72.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804254 ms (missed cycles : 5).[0m ×2 + 72.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 73.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009872 ms (missed cycles : 4). + 73.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009872 ms (missed cycles : 4).[0m ×2 + 73.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 74.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679167 ms (missed cycles : 2). + 74.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679167 ms (missed cycles : 2).[0m ×2 + 75.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340505 ms (missed cycles : 4). + 75.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340505 ms (missed cycles : 4).[0m ×2 + 76.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 76.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822133 ms (missed cycles : 2). + 76.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822133 ms (missed cycles : 2).[0m ×2 + 76.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786037443.13211608 seconds ×3 + 76.89sWARNlocal_costmap.local_costmapSensor origin at (-2.34, 13.80) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.89sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 13.39) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 77.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.090ms + 77.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 77.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 77.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 77.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 77.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 78.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 78.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 78.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	188 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3).[0m ×2 + 0.14sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.14sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786037205.09276986 seconds ×3 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786037205.65089703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.8649e-05 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.85sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.85sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.85sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.85sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171270 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171270 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786037208.87104607 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256883 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256883 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786037209.42941904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425149 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425149 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432440 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432440 ms (missed cycles : 3).[0m ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736023 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736023 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928208 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928208 ms (missed cycles : 2).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 2.263ms + 9.61sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.913ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779583 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779583 ms (missed cycles : 3).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.582ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294714 ms (missed cycles : 4). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294714 ms (missed cycles : 4).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900699 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900699 ms (missed cycles : 3).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204900 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204900 ms (missed cycles : 2).[0m ×2 + 12.81sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353714 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353714 ms (missed cycles : 3).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842446 ms (missed cycles : 4). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842446 ms (missed cycles : 4).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849551 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849551 ms (missed cycles : 2).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755803 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755803 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376875 ms (missed cycles : 3). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376875 ms (missed cycles : 3).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119767 ms (missed cycles : 4). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119767 ms (missed cycles : 4).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748686 ms (missed cycles : 6). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748686 ms (missed cycles : 6).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006417 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006417 ms (missed cycles : 2).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157051 ms (missed cycles : 2). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157051 ms (missed cycles : 2).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431186 ms (missed cycles : 3). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431186 ms (missed cycles : 3).[0m ×2 + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292433 ms (missed cycles : 4). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292433 ms (missed cycles : 4).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678013 ms (missed cycles : 3). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678013 ms (missed cycles : 3).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165924 ms (missed cycles : 3). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165924 ms (missed cycles : 3).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037297 ms (missed cycles : 4). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037297 ms (missed cycles : 4).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141941 ms (missed cycles : 4). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141941 ms (missed cycles : 4).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893044 ms (missed cycles : 3). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893044 ms (missed cycles : 3).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407984 ms (missed cycles : 3). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407984 ms (missed cycles : 3).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702669 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702669 ms (missed cycles : 2).[0m ×2 + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098601 ms (missed cycles : 4). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098601 ms (missed cycles : 4).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 33.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 33.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458680 ms (missed cycles : 3). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458680 ms (missed cycles : 3).[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088489 ms (missed cycles : 5). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088489 ms (missed cycles : 5).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812778 ms (missed cycles : 5). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812778 ms (missed cycles : 5).[0m ×2 + 35.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001203 ms (missed cycles : 4). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001203 ms (missed cycles : 4).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753300 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753300 ms (missed cycles : 2).[0m ×2 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057889 ms (missed cycles : 5). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057889 ms (missed cycles : 5).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143285 ms (missed cycles : 2). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143285 ms (missed cycles : 2).[0m ×2 + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117696 ms (missed cycles : 3). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117696 ms (missed cycles : 3).[0m ×2 + 41.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144992 ms (missed cycles : 4). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144992 ms (missed cycles : 4).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944722 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944722 ms (missed cycles : 3).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.130477 ms (missed cycles : 5). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.130477 ms (missed cycles : 5).[0m ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643779 ms (missed cycles : 4). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643779 ms (missed cycles : 4).[0m ×2 + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024859 ms (missed cycles : 4). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024859 ms (missed cycles : 4).[0m ×2 + 47.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397004 ms (missed cycles : 4). + 47.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397004 ms (missed cycles : 4).[0m ×2 + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198600 ms (missed cycles : 2). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198600 ms (missed cycles : 2).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918528 ms (missed cycles : 2). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918528 ms (missed cycles : 2).[0m ×2 + 49.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668853 ms (missed cycles : 3). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668853 ms (missed cycles : 3).[0m ×2 + 51.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466373 ms (missed cycles : 3). + 51.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466373 ms (missed cycles : 3).[0m ×2 + 52.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740937 ms (missed cycles : 2). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740937 ms (missed cycles : 2).[0m ×2 + 53.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238631 ms (missed cycles : 4). + 53.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238631 ms (missed cycles : 4).[0m ×2 + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943049 ms (missed cycles : 2). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943049 ms (missed cycles : 2).[0m ×2 + 55.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346535 ms (missed cycles : 3). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346535 ms (missed cycles : 3).[0m ×2 + 56.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 57.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 57.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 58.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 59.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 59.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 60.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 60.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 60.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 61.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 61.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 61.50sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.50sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 61.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 62.01sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 62.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 62.48sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 62.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 62.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 62.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 63.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 64.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	185 warnings · 155 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250761 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250761 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285202 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285202 ms (missed cycles : 2).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083856 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083856 ms (missed cycles : 2).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912203 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912203 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.941ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.765ms + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321482 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321482 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.573ms + 12.80sINFOamclParticle filter update iteration stats: 4766 particles 723 points - 8.634ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048749 ms (missed cycles : 4). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048749 ms (missed cycles : 4).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 6.260ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.095ms + 14.11sINFOros2_control_nodeMuJoCo sim: 1.57% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700991 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700991 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 4632 particles 723 points - 7.871ms + 14.80sINFOamclParticle filter update iteration stats: 3876 particles 723 points - 7.706ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417085 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417085 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 3315 particles 723 points - 5.932ms + 15.80sINFOamclParticle filter update iteration stats: 3118 particles 723 points - 5.087ms + 16.29sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 4.056ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422419 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422419 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 6.459ms + 17.29sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 3.949ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055286 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055286 ms (missed cycles : 2).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 4.091ms + 18.29sINFOamclParticle filter update iteration stats: 2732 particles 723 points - 4.278ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603287 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603287 ms (missed cycles : 3).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.333ms + 19.29sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 4.167ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581646 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581646 ms (missed cycles : 3).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 2470 particles 723 points - 3.390ms + 20.29sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.116ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557300 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557300 ms (missed cycles : 3).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 2.290ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912494 ms (missed cycles : 3). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912494 ms (missed cycles : 3).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546019 ms (missed cycles : 3). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546019 ms (missed cycles : 3).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188978 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188978 ms (missed cycles : 3).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561736 ms (missed cycles : 3). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561736 ms (missed cycles : 3).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821400 ms (missed cycles : 3). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821400 ms (missed cycles : 3).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690013 ms (missed cycles : 4). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690013 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478906 ms (missed cycles : 4). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478906 ms (missed cycles : 4).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749595 ms (missed cycles : 4). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749595 ms (missed cycles : 4).[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 29.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557505 ms (missed cycles : 2). + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557505 ms (missed cycles : 2).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331683 ms (missed cycles : 4). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331683 ms (missed cycles : 4).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032554 ms (missed cycles : 4). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032554 ms (missed cycles : 4).[0m ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872015 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872015 ms (missed cycles : 4).[0m ×2 + 33.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.295ms + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003578 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003578 ms (missed cycles : 3).[0m ×2 + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984788 ms (missed cycles : 3). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984788 ms (missed cycles : 3).[0m ×2 + 35.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 36.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.06sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546099 ms (missed cycles : 2). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546099 ms (missed cycles : 2).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704330 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704330 ms (missed cycles : 2).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964665 ms (missed cycles : 2). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964665 ms (missed cycles : 2).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800056 ms (missed cycles : 6). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800056 ms (missed cycles : 6).[0m ×2 + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858587 ms (missed cycles : 3). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858587 ms (missed cycles : 3).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041323 ms (missed cycles : 3). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041323 ms (missed cycles : 3).[0m ×2 + 42.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086991 ms (missed cycles : 4). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086991 ms (missed cycles : 4).[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329024 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329024 ms (missed cycles : 2).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220070 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220070 ms (missed cycles : 3).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544190 ms (missed cycles : 4). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544190 ms (missed cycles : 4).[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178196 ms (missed cycles : 4). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178196 ms (missed cycles : 4).[0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788650 ms (missed cycles : 2). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788650 ms (missed cycles : 2).[0m ×2 + 49.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835902 ms (missed cycles : 3). + 49.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835902 ms (missed cycles : 3).[0m ×2 + 50.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705511 ms (missed cycles : 2). + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705511 ms (missed cycles : 2).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680170 ms (missed cycles : 2). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680170 ms (missed cycles : 2).[0m ×2 + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021649 ms (missed cycles : 2). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021649 ms (missed cycles : 2).[0m ×2 + 52.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 53.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608467 ms (missed cycles : 4). + 53.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608467 ms (missed cycles : 4).[0m ×2 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010603 ms (missed cycles : 4). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010603 ms (missed cycles : 4).[0m ×2 + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304028 ms (missed cycles : 2). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304028 ms (missed cycles : 2).[0m ×2 + 56.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 57.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103447 ms (missed cycles : 5). + 57.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103447 ms (missed cycles : 5).[0m ×2 + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866957 ms (missed cycles : 3). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866957 ms (missed cycles : 3).[0m ×2 + 59.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577996 ms (missed cycles : 4). + 59.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577996 ms (missed cycles : 4).[0m ×2 + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546902 ms (missed cycles : 3). + 60.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546902 ms (missed cycles : 3).[0m ×2 + 60.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577964 ms (missed cycles : 5). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577964 ms (missed cycles : 5).[0m ×2 + 61.75sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786037505.39235830 seconds ×3 + 61.88sWARNlocal_costmap.local_costmapSensor origin at (-1.61, 7.65) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.88sWARNlocal_costmap.local_costmapSensor origin at (-2.51, 7.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.125ms + 62.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.583ms + 62.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.312ms + 62.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786037505.96250916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 62.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081439 ms (missed cycles : 2). + 62.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081439 ms (missed cycles : 2).[0m ×2 + 62.76sINFOobjective_server_nodeFound path in 0 iterations (1.122e-06 s). ×2 + 62.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.518ms + 63.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 63.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030553 ms (missed cycles : 2). + 63.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030553 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.2s	181 warnings · 166 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.02sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.07sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786037303.60426784 seconds ×3 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 10.33) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-3.76, 10.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 3.988ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.480ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.897ms + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786037304.17956591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.733ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.141ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.833ms + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.108ms + 6.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.913ms + 6.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965295 ms (missed cycles : 3).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.835ms + 7.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.109ms + 7.99sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 6.004ms + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981460 ms (missed cycles : 4). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981460 ms (missed cycles : 4).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 3.925ms + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668752 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668752 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.046ms + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452396 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452396 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505022 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505022 ms (missed cycles : 3).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172472 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172472 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 12.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574161 ms (missed cycles : 3). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574161 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479766 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479766 ms (missed cycles : 3).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923410 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923410 ms (missed cycles : 2).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427211 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427211 ms (missed cycles : 3).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544500 ms (missed cycles : 3). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544500 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290131 ms (missed cycles : 2). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290131 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747842 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747842 ms (missed cycles : 2).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms ×2 + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162669 ms (missed cycles : 5). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162669 ms (missed cycles : 5).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277354 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277354 ms (missed cycles : 2).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490163 ms (missed cycles : 3). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490163 ms (missed cycles : 3).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857749 ms (missed cycles : 3). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857749 ms (missed cycles : 3).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452203 ms (missed cycles : 3). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452203 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241488 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241488 ms (missed cycles : 2).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933841 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933841 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828218 ms (missed cycles : 3). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828218 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169860 ms (missed cycles : 4). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169860 ms (missed cycles : 4).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732029 ms (missed cycles : 4). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732029 ms (missed cycles : 4).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754202 ms (missed cycles : 5). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.754202 ms (missed cycles : 5).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368452 ms (missed cycles : 4). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368452 ms (missed cycles : 4).[0m ×2 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044346 ms (missed cycles : 2). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044346 ms (missed cycles : 2).[0m ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795424 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795424 ms (missed cycles : 2).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739055 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739055 ms (missed cycles : 3).[0m ×2 + 36.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 37.16sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835422 ms (missed cycles : 5). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835422 ms (missed cycles : 5).[0m ×2 + 38.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 38.21sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117553 ms (missed cycles : 4). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117553 ms (missed cycles : 4).[0m ×2 + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599862 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599862 ms (missed cycles : 3).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345107 ms (missed cycles : 4). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345107 ms (missed cycles : 4).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702197 ms (missed cycles : 3). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702197 ms (missed cycles : 3).[0m ×2 + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853622 ms (missed cycles : 4). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.853622 ms (missed cycles : 4).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248768 ms (missed cycles : 2). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248768 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822760 ms (missed cycles : 2). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822760 ms (missed cycles : 2).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771811 ms (missed cycles : 2). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771811 ms (missed cycles : 2).[0m ×2 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018837 ms (missed cycles : 2). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018837 ms (missed cycles : 2).[0m ×2 + 47.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420025 ms (missed cycles : 3). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420025 ms (missed cycles : 3).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279062 ms (missed cycles : 2). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279062 ms (missed cycles : 2).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542228 ms (missed cycles : 3). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542228 ms (missed cycles : 3).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 51.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013446 ms (missed cycles : 2). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013446 ms (missed cycles : 2).[0m ×2 + 51.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 52.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628109 ms (missed cycles : 3). + 52.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628109 ms (missed cycles : 3).[0m ×2 + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400283 ms (missed cycles : 3). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400283 ms (missed cycles : 3).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 54.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089541 ms (missed cycles : 2). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089541 ms (missed cycles : 2).[0m ×2 + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184112 ms (missed cycles : 2). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184112 ms (missed cycles : 2).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159537 ms (missed cycles : 4). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159537 ms (missed cycles : 4).[0m ×2 + 57.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934475 ms (missed cycles : 3). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934475 ms (missed cycles : 3).[0m ×2 + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765244 ms (missed cycles : 4). + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765244 ms (missed cycles : 4).[0m ×2 + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127514 ms (missed cycles : 2). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127514 ms (missed cycles : 2).[0m ×2 + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 60.33sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786037359.85970330 seconds ×3 + 60.39sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.39sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 60.88sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786037360.41523504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606354 ms (missed cycles : 7). + 60.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606354 ms (missed cycles : 7).[0m ×2 + 61.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.253ms + 61.39sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 61.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.261ms + 61.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.983ms + 62.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.610ms + 62.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657463 ms (missed cycles : 3). + 62.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657463 ms (missed cycles : 3).[0m ×2 + 62.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 62.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.844ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 5.35sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323791 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323791 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518944 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518944 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943299 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943299 ms (missed cycles : 3).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148378 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148378 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774218 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774218 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738976 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738976 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653447 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653447 ms (missed cycles : 3).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661022 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661022 ms (missed cycles : 3).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658703 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658703 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583717 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583717 ms (missed cycles : 3).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615851 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615851 ms (missed cycles : 3).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948985 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948985 ms (missed cycles : 3).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722218 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722218 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.328ms + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262360 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262360 ms (missed cycles : 2).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261584 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261584 ms (missed cycles : 2).[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278957 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278957 ms (missed cycles : 2).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676190 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676190 ms (missed cycles : 3).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726382 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726382 ms (missed cycles : 3).[0m ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346635 ms (missed cycles : 3). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346635 ms (missed cycles : 3).[0m ×2 + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821100 ms (missed cycles : 3). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821100 ms (missed cycles : 3).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654768 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654768 ms (missed cycles : 2).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203166 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203166 ms (missed cycles : 2).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051502 ms (missed cycles : 2). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051502 ms (missed cycles : 2).[0m ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657422 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657422 ms (missed cycles : 3).[0m ×2 + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773767 ms (missed cycles : 2). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773767 ms (missed cycles : 2).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534674 ms (missed cycles : 3). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534674 ms (missed cycles : 3).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410470 ms (missed cycles : 3). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410470 ms (missed cycles : 3).[0m ×2 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086985 ms (missed cycles : 3). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086985 ms (missed cycles : 3).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481071 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481071 ms (missed cycles : 2).[0m ×2 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094555 ms (missed cycles : 4). + 37.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094555 ms (missed cycles : 4).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122249 ms (missed cycles : 2). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122249 ms (missed cycles : 2).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439811 ms (missed cycles : 3). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439811 ms (missed cycles : 3).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584847 ms (missed cycles : 2). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584847 ms (missed cycles : 2).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757988 ms (missed cycles : 2). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757988 ms (missed cycles : 2).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636398 ms (missed cycles : 3). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636398 ms (missed cycles : 3).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2).[0m ×2 + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2).[0m ×2 + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3).[0m ×2 + 47.33sINFOjoint_trajectory_controllerGoal reached, success! + 47.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786037205.09276986 seconds ×3 + 47.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786037205.65089703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2).[0m ×2 + 49.01sINFOobjective_server_nodeFound path in 0 iterations (3.8649e-05 s). ×2 + 49.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	110 warnings · 114 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254646 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254646 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621359 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621359 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786037271.16657710 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194716 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194716 ms (missed cycles : 3).[0m ×2 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786037272.72402096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707657 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707657 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717813 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717813 ms (missed cycles : 3).[0m ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.06sINFOjoint_trajectory_controllerReceived new action goal + 7.06sINFOjoint_trajectory_controllerAccepted new action goal + 7.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208649 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208649 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369610 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369610 ms (missed cycles : 3).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.860ms + 9.60sINFOros2_control_nodeMuJoCo sim: 0.62% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287180 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287180 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.867ms + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.189ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.778ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824269 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824269 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.301ms + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.108ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663071 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663071 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 4197 particles 723 points - 5.895ms + 12.89sINFOamclParticle filter update iteration stats: 3378 particles 723 points - 5.096ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283088 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283088 ms (missed cycles : 2).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 2763 particles 723 points - 3.656ms + 13.90sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 3.949ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981454 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981454 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 3.245ms + 14.89sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.101ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287115 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287115 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.012ms + 15.89sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.447ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266171 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266171 ms (missed cycles : 4).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.321ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883322 ms (missed cycles : 3). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883322 ms (missed cycles : 3).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 17.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343176 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343176 ms (missed cycles : 3).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641951 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641951 ms (missed cycles : 3).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159395 ms (missed cycles : 4). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159395 ms (missed cycles : 4).[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704096 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704096 ms (missed cycles : 2).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468272 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468272 ms (missed cycles : 3).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673912 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673912 ms (missed cycles : 3).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676066 ms (missed cycles : 5). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676066 ms (missed cycles : 5).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994767 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994767 ms (missed cycles : 3).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795372 ms (missed cycles : 4). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795372 ms (missed cycles : 4).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 27.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117374 ms (missed cycles : 4). + 27.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117374 ms (missed cycles : 4).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498487 ms (missed cycles : 3). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498487 ms (missed cycles : 3).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035205 ms (missed cycles : 2). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035205 ms (missed cycles : 2).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662403 ms (missed cycles : 4). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662403 ms (missed cycles : 4).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5).[0m ×2 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3).[0m ×2 + 35.47sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786037303.60426784 seconds ×3 + 35.58sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 10.33) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.58sWARNlocal_costmap.local_costmapSensor origin at (-3.76, 10.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.60sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 3.988ms + 35.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.480ms + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.897ms + 36.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786037304.17956591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 36.43sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.733ms + 36.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.141ms + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.833ms + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3).[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.108ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.3s	62 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866957 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866957 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577996 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577996 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546902 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546902 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577964 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577964 ms (missed cycles : 5).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786037505.39235830 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-1.61, 7.65) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-2.51, 7.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.125ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.583ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.312ms + 3.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786037505.96250916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081439 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081439 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (1.122e-06 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.518ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030553 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030553 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.600ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222820 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222820 ms (missed cycles : 2).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.503ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939698 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939698 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733091 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733091 ms (missed cycles : 2).[0m ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156049 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156049 ms (missed cycles : 3).[0m ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805145 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805145 ms (missed cycles : 2).[0m ×2 + 10.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X] ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928659 ms (missed cycles : 3). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928659 ms (missed cycles : 3).[0m ×2 + 11.68sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776627 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776627 ms (missed cycles : 3).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.205ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416999 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416999 ms (missed cycles : 2).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.090ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.570ms + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.865ms + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2).[0m ×2 + 15.72sINFOros2_control_nodeMuJoCo sim: 1.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.681ms + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.532ms + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2).[0m ×2 + 17.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786037519.71532679 seconds ×3 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2).[0m ×2 + 17.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.266ms + 18.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.153ms + 18.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786037520.30580711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.28sINFOmove_groupClearing octomap...[0m ×2 + 18.28sINFOmove_groupOctomap cleared.[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2).[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.881ms + 18.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786037520.87595153 seconds ×3 + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 19.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786037521.43144131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3).[0m ×2 + 19.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786037521.89156866 seconds ×3 + 19.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.354ms + 20.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.542ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	13.5s	104 errors · 36 warnings · 406 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.570ms + 0.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.865ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2_control_nodeMuJoCo sim: 1.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.681ms + 2.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.532ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786037519.71532679 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.266ms + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.153ms + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786037520.30580711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.71sINFOmove_groupClearing octomap...[0m ×2 + 3.71sINFOmove_groupOctomap cleared.[0m ×2 + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2).[0m ×2 + 4.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.881ms + 4.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786037520.87595153 seconds ×3 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 4.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786037521.43144131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786037521.89156866 seconds ×3 + 5.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.354ms + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.542ms + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.024ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160639 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160639 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366943 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366943 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490679 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490679 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671740 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671740 ms (missed cycles : 2).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672163 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672163 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191997 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191997 ms (missed cycles : 2).[0m ×2 + 11.63sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.67sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.67sERRORweb_video_auth_proxy-35process has died [pid 9531, 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 + 11.67sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.71sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORweb_bridge_auth_proxy-34process has died [pid 9530, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.71sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.80sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.83sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.85sINFOvideo_server-33process has finished cleanly [pid 9529] ×2 + 11.86sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.88sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.91sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.94sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.97sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.99sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.00sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.03sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.06sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.08sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9528] ×2 + 12.09sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.12sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.17sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.17sINFOcontroller_managerShutdown request received.... + 12.17sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.17sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.17sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.17sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.17sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.17sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.17sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerShutting down the controller manager. + 12.19sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.19sERRORmove_group-21process has died [pid 9499, 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_xtmf3r8k --params-file /tmp/launch_params_5mwxfmea --params-file /tmp/launch_params_0ryjd49u --params-file /tmp/launch_params_pge42po4 --params-file /tmp/launch_params_ktbpm5qw --params-file /tmp/launch_params_sf2wgwak']. ×2 + 12.20sINFOui_teleop_bridge-30process has finished cleanly [pid 9526] ×2 + 12.21sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786037528.509 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.21sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.22sINFOcomponent_container_mt-28process has finished cleanly [pid 9524] ×2 + 12.24sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.24sINFOexecute_objective_bridge-29process has finished cleanly [pid 9525] ×2 + 12.26sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.30sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.33sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.33sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.33sINFOmap_serverDeactivating + 12.33sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.33sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 12.33sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.33sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.33sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 12.33sINFOlifecycle_manager_localization[34m[1mDeactivating amcl[0m[0m + 12.33sINFOamclDeactivating + 12.34sINFOmap_serverCleaning up + 12.34sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.35sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.35sINFOcontroller_serverDeactivating + 12.35sINFOlocal_costmap.local_costmapDeactivating + 12.35sINFOvideo_server2026/08/06 17:32:08 INF shutting down gracefully ×2 + 12.35sINFOvideo_server2026/08/06 17:32:08 INF [WebRTC] closing ×2 + 12.35sINFOvideo_server2026/08/06 17:32:08 INF [RTSP] closing ×2 + 12.35sINFOvideo_server2026/08/06 17:32:08 INF waiting for running hooks ×2 + 12.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.35sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.35sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.36sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.36sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.36sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.36sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.36sERRORmove_groupStack trace (most recent call last) in thread 10146: ×2 + 12.36sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.36sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8e0016a63, in __clone ×2 + 12.36sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8dff89aa3, in ×2 + 12.36sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8e021bdb3, in ×2 + 12.36sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd8e0987ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.36sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8e05ad620, in rclcpp::Rate::sleep() ×2 + 12.36sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8e04efd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.36sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd8e04b1087, in ×2 + 12.36sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8e01ea390, in __cxa_throw ×2 + 12.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8e01d4a54, in std::terminate() ×2 + 12.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8e01ea0d9, in ×2 + 12.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8e01d4ff4, in ×2 + 12.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8dff158fe, in abort ×2 + 12.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8dff3227d, in raise ×2 + 12.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8dff8bb2c, in pthread_kill ×2 + 12.36sERRORmove_groupAborted (Signal sent by tkill() 9499 0) ×2 + 12.36sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.36sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.36sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.36sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.36sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.36sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.36sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.36sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.36sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.36sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.36sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.37sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.37sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.37sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.37sINFOodom_qos_relay.pymain() ×2 + 12.37sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.37sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.37sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.37sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.37sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.37sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.37sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.37sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.37sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.37sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.37sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.37sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.38sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.38sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.38sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.42sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.43sINFOcontroller_serverCleaning up + 12.43sINFOlocal_costmap.local_costmapCleaning up + 12.47sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.47sINFOsmoother_serverDeactivating + 12.47sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.48sINFOsmoother_serverCleaning up + 12.49sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.49sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.49sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.49sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.49sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.49sINFOvelocity_smootherDeactivating + 12.49sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.50sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.50sINFOplanner_serverDeactivating + 12.50sINFOglobal_costmap.global_costmapDeactivating + 12.54sERRORcomponent_container_isolated-2process has died [pid 9403, 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_u8k61kn7 --params-file /tmp/launch_params_m10e2_c5 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.84sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.84sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.85sINFOplanner_serverCleaning up + 12.86sINFOglobal_costmap.global_costmapCleaning up + 12.87sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.87sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.91sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.91sINFObehavior_serverDeactivating + 12.91sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.92sINFObehavior_serverCleaning up + 12.92sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.92sINFObt_navigatorDeactivating + 12.92sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.93sINFObt_navigatorCleaning up + 13.05sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9521] ×2 + 13.08sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9520] ×2 + 13.10sINFObt_navigatorCompleted Cleaning up + 13.10sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.10sINFOwaypoint_followerDeactivating + 13.10sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 13.11sINFOwaypoint_followerCleaning up + 13.12sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.12sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.15sINFOwaypoint_manager_node-23process has finished cleanly [pid 9501] ×2 + 13.16sINFOparameter_manager_node-22process has finished cleanly [pid 9500] ×2 + 13.16sINFOcomponent_container_mt-27process has finished cleanly [pid 9523] ×2 + 13.18sINFOobjective_server_node[2026-08-06 17:32:09.777] [moveit_pro_license] [info] ×2 + 13.18sINFOobjective_server_node************************************************* ×4 + 13.18sINFOobjective_server_node* MoveIt Pro License ×2 + 13.18sINFOobjective_server_node* Application has successfully terminated ×2 + 13.23sINFOobjective_server_node_main-26process has finished cleanly [pid 9522] ×2 + 13.23sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.24sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9409] ×2 + 13.26sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9408] ×2 + 13.32sINFOstatic_transform_publisher-4process has finished cleanly [pid 9405] ×2 + 13.34sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9407] ×2 + 13.35sINFOstatic_transform_publisher-3process has finished cleanly [pid 9404] ×2 + 13.36sERRORodom_qos_relay.py-5process has died [pid 9406, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.60sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 14.17sERRORwaypoint_followerUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.17sERRORlifecycle_manager_navigationFailed to change state for node: waypoint_follower + 14.17sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 14.17sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.17sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 14.17sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 14.17sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.17sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 14.17sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 14.17sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.17sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.17sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 14.17sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.17sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 14.17sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 14.18sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 14.18sINFOvelocity_smootherCleaning up + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 14.18sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 14.18sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 14.18sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 14.18sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 14.18sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 14.18sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 14.18sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 14.66sINFOweb_bridge-31process has finished cleanly [pid 9527] ×2 + 14.66sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.90sINFOros2_control_node-9process has finished cleanly [pid 9410] ×2 + 16.63sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.65sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 16.66sERRORcomponent_container_isolated-1process has died [pid 9402, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_u8k61kn7 --params-file /tmp/launch_params_dokmr6wm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 52 warnings · 90 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159537 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159537 ms (missed cycles : 4).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934475 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934475 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765244 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765244 ms (missed cycles : 4).[0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127514 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127514 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 4.20sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786037359.85970330 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.29sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 11.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.044ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786037360.41523504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606354 ms (missed cycles : 7). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.606354 ms (missed cycles : 7).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.253ms + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.261ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.983ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.610ms + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657463 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657463 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.844ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.517ms + 7.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928501 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928501 ms (missed cycles : 3).[0m ×2 + 7.10sINFOjoint_trajectory_controllerReceived new action goal + 7.10sINFOjoint_trajectory_controllerAccepted new action goal + 7.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 6.214ms + 7.60sINFOamclParticle filter update iteration stats: 3211 particles 723 points - 4.558ms + 7.90sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 3.892ms + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760560 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760560 ms (missed cycles : 2).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.526ms + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 8.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216064 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216064 ms (missed cycles : 2).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881899 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881899 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606478 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606478 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368670 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368670 ms (missed cycles : 2).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391245 ms (missed cycles : 4). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391245 ms (missed cycles : 4).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603902 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603902 ms (missed cycles : 2).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 14.89sINFOobjective_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 + 14.89sINFOjoint_trajectory_controllerGot request to cancel goal + 14.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.90sERRORobjective_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: 1786037370.53589535 seconds ×3 + 14.99sWARNlocal_costmap.local_costmapSensor origin at (-0.69, 3.83) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.99sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 3.74) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.823ms + 15.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 15.46sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786037371.09194231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206365 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206365 ms (missed cycles : 3).[0m ×2 + 15.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.337ms + 15.89sINFOobjective_server_nodeFound path in 0 iterations (1.84e-06 s). ×2 + 16.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.027ms + 16.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.846ms + 16.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.817ms + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062412 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062412 ms (missed cycles : 2).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.734ms + 17.21sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 6.041ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.8s	38 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.35sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 4.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 5.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254646 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254646 ms (missed cycles : 3).[0m ×2 + 8.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.296ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621359 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621359 ms (missed cycles : 3).[0m ×2 + 9.19sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786037271.16657710 seconds ×3 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194716 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194716 ms (missed cycles : 3).[0m ×2 + 10.75sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786037272.72402096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707657 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707657 ms (missed cycles : 2).[0m ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	35 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009872 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009872 ms (missed cycles : 4).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679167 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679167 ms (missed cycles : 2).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340505 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340505 ms (missed cycles : 4).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822133 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822133 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786037443.13211608 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.34, 13.80) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 13.39) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.090ms + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 4.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 7.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 8.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 9.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.8s	30 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.46sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786037205.09276986 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786037205.65089703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.8649e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171270 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171270 ms (missed cycles : 3).[0m ×2 + 7.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786037208.87104607 seconds ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256883 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256883 ms (missed cycles : 3).[0m ×2 + 7.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786037209.42941904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425149 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425149 ms (missed cycles : 3).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432440 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432440 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	24 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.205ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416999 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416999 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.090ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.570ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.865ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2).[0m ×2 + 2.31sINFOros2_control_nodeMuJoCo sim: 1.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.681ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.532ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786037519.71532679 seconds ×3 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.266ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.153ms + 4.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786037520.30580711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.87sINFOmove_groupClearing octomap...[0m ×2 + 4.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.881ms + 5.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786037520.87595153 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786037521.43144131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786037521.89156866 seconds ×3 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.354ms + 6.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.542ms + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.024ms + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160639 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160639 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 5.35sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786037205.09276986 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786037205.65089703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.8649e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 4.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 5.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 4.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 5.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 4.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 5.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 4.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 5.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450446 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367577 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328232 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107148 ms (missed cycles : 2).[0m ×2 + 3.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008780 ms (missed cycles : 4).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786037266.34955502 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.093ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.110ms + 4.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786037266.92644954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.545ms + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.842ms + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3). + 5.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247703 ms (missed cycles : 3).[0m ×2 + 5.49sINFOjoint_trajectory_controllerReceived new action goal + 5.49sINFOjoint_trajectory_controllerAccepted new action goal + 5.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918012 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786037303.60426784 seconds ×3 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 10.33) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-3.76, 10.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 3.988ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.480ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.897ms + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786037304.17956591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.733ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.141ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.833ms + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.108ms
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.682ms + 0.07sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786037443.71372724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578104 ms (missed cycles : 3).[0m ×2 + 0.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.783ms + 0.57sINFOjoint_trajectory_controllerReceived new action goal + 0.57sINFOjoint_trajectory_controllerAccepted new action goal + 0.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053543 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.079ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439536 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076868 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 4.39sINFOjoint_trajectory_controllerGoal reached, success! + 4.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786037448.06386852 seconds ×3 + 4.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357355 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786037448.63227677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584446 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557056 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.205ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416999 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416999 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.090ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786779 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.570ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.865ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754307 ms (missed cycles : 2).[0m ×2 + 2.31sINFOros2_control_nodeMuJoCo sim: 1.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.681ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.532ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889986 ms (missed cycles : 2).[0m ×2 + 4.25sINFOjoint_trajectory_controllerGoal reached, success! + 4.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786037519.71532679 seconds ×3 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949219 ms (missed cycles : 2).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.266ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.153ms + 4.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786037520.30580711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.87sINFOmove_groupClearing octomap...[0m ×2 + 4.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854901 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.881ms + 5.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786037520.87595153 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786037521.43144131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534904 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786037521.89156866 seconds ×3 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.354ms + 6.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.542ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240162 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801762 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085352 ms (missed cycles : 2).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786037205.09276986 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786037205.65089703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.8649e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999384 ms (missed cycles : 3).[0m ×2 + 0.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786037205.09276986 seconds ×3 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786037205.65089703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210665 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.8649e-05 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.85sINFOjoint_trajectory_controllerReceived new action goal + 1.85sINFOjoint_trajectory_controllerAccepted new action goal + 1.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566344 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171270 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171270 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786037208.87104607 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256883 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256883 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786037209.42941904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425149 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425149 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432440 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432440 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786037303.60426784 seconds ×3 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 10.33) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-3.76, 10.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 3.988ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.480ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.897ms + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786037304.17956591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.733ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.141ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.833ms + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.108ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958248 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588937 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749270 ms (missed cycles : 5).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471846 ms (missed cycles : 3).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.07sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786037303.60426784 seconds ×3 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-2.87, 10.33) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.19sWARNlocal_costmap.local_costmapSensor origin at (-3.76, 10.30) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 3.988ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.480ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.897ms + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786037304.17956591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208536 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.683ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.733ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.141ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.833ms + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612052 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.821ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.108ms
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	segment_image_from_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	27 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 7.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 7.50sINFOjoint_trajectory_controllerReceived new action goal + 7.50sINFOjoint_trajectory_controllerAccepted new action goal + 7.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.51sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 105 info
+ 0.00sINFOros2-18process has finished cleanly [pid 9496] ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.87sINFOmove_groupClearing octomap...[0m ×2 + 4.87sINFOmove_groupOctomap cleared.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sINFOobjective_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 + 6.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 7.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 87 info
+ 0.00sINFOros2-18process has finished cleanly [pid 9496] ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595939 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 3.09sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.87sINFOmove_groupClearing octomap...[0m ×2 + 4.87sINFOmove_groupOctomap cleared.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 5.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sINFOobjective_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 + 6.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439329 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 1.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.63sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 6.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	move_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976138 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115254 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174512 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786037159.50468302 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.62sINFOmove_groupClearing octomap...[0m ×2 + 2.62sINFOmove_groupOctomap cleared.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786037159.51484704 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786037160.08159351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786037160.09170890 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194679 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786037160.64804578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786037160.79860425 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393530 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786037161.38551283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786037161.45565057 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786037162.01181865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947989 ms (missed cycles : 2).[0m ×2 + 6.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997247 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2