MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	25.3s	14 errors · 309 warnings · 1188 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-30-09-54-07-144925-34c28a7a33b6-9234 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.59sINFOstatic_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' + 8.59sINFOstatic_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' + 8.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.69sINFOcontroller_managerupdate rate is 600 Hz + 8.70sINFOcontroller_managerOverruns handling is : enabled + 8.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.70sWARNcontroller_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. + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710466 ms (missed cycles : 2). + 8.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.84sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 8.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.87sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 8.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.88sINFOros2_control_node-8process started with pid [9291] ×2 + 8.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.88sINFOmove_group-20process started with pid [9380] ×2 + 8.88sINFOparameter_manager_node-21process started with pid [9381] ×2 + 8.88sINFOwaypoint_manager_node-22process started with pid [9382] ×2 + 8.88sINFOmove_joint_resampler_node-23process started with pid [9383] ×2 + 8.88sINFOmove_end_effector_resampler_node-24process started with pid [9404] ×2 + 8.89sINFOobjective_server_node_main-25process started with pid [9405] ×2 + 8.89sINFOcomponent_container_mt-26process started with pid [9406] ×2 + 8.89sINFOcomponent_container_mt-27process started with pid [9407] ×2 + 8.89sINFOexecute_objective_bridge-28process started with pid [9408] ×2 + 8.89sINFOui_teleop_bridge-29process started with pid [9424] ×2 + 8.89sINFOweb_bridge-30process started with pid [9425] ×2 + 8.89sINFOtf2_web_republisher_node-31process started with pid [9426] ×2 + 8.89sINFOvideo_server-32process started with pid [9427] ×2 + 8.89sINFOweb_bridge_auth_proxy-33process started with pid [9428] ×2 + 8.89sINFOweb_video_auth_proxy-34process started with pid [9429] ×2 + 8.91sINFOcomponent_container_isolated-1process started with pid [9284] ×2 + 8.91sINFOcomponent_container_isolated-2process started with pid [9285] ×2 + 8.91sINFOstatic_transform_publisher-3process started with pid [9286] ×2 + 8.91sINFOstatic_transform_publisher-4process started with pid [9287] ×2 + 8.91sINFOodom_qos_relay.py-5process started with pid [9288] ×2 + 8.91sINFOscan_to_scan_filter_chain-6process started with pid [9289] ×2 + 8.91sINFOscan_to_scan_filter_chain-7process started with pid [9290] ×2 + 8.91sINFOcontroller_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. + 8.91sINFOros2-9process started with pid [9369] ×2 + 8.91sINFOros2-10process started with pid [9370] ×2 + 8.91sINFOros2-11process started with pid [9371] ×2 + 8.91sINFOros2-12process started with pid [9372] ×2 + 8.91sINFOros2-13process started with pid [9373] ×2 + 8.91sINFOros2-14process started with pid [9374] ×2 + 8.91sINFOros2-15process started with pid [9375] ×2 + 8.91sINFOros2-16process started with pid [9376] ×2 + 8.91sINFOros2-17process started with pid [9377] ×2 + 8.91sINFOros2-18process started with pid [9378] ×2 + 8.91sINFOros2-19process started with pid [9379] ×2 + 8.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 8.95sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 9.02sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 9.02sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 9.03sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 9.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 9.03sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 9.03sINFOcontroller_serverCreating controller server + 9.03sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 9.03sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 9.03sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 9.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 9.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 9.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 9.03sWARNros2_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 + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710466 ms (missed cycles : 2).[0m ×2 + 9.04sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 9.07sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 9.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 9.07sINFOlocal_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. + 9.07sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.08sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.08sINFOlocal_costmap.local_costmapCreating Costmap + 9.09sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 9.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.11sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 9.11sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.11sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 9.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 9.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.16sINFOsmoother_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. + 9.16sINFOmap_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. + 9.16sINFOmap_serverCreating + 9.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 9.17sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 9.20sINFOrobot_state_publisherRobot initialized + 9.20sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.20sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.20sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.20sINFOcontroller_managerReceived robot description from topic. + 9.21sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.21sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.23sINFOsmoother_serverCreating smoother server + 9.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.25sINFOvideo_server2026/07/30 09:54:18 INF MediaMTX v1.19.3, linux, amd64 ×2 + 9.25sINFOvideo_server2026/07/30 09:54:18 INF configuration loaded from /tmp/moveit-webrtc-ez_pcanm/mediamtx.yml ×2 + 9.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.26sINFOvideo_server2026/07/30 09:54:18 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 9.26sINFOvideo_server2026/07/30 09:54:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 9.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 9.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.28sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.29sINFOplanner_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. + 9.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.30sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 9.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.32sINFOlifecycle_manager_localizationCreating + 9.32sINFOplanner_serverCreating + 9.34sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 9.35sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.35sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.35sINFOmap_serverConfiguring + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.38sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.38sINFOglobal_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. + 9.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.39sINFOglobal_costmap.global_costmapCreating Costmap + 9.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.43sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.43sINFOamclConfiguring + 9.43sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.43sINFOmap_serverActivating + 9.44sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.45sINFObehavior_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. + 9.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.55sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.55sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.55sINFOamclActivating + 9.55sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.55sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.55sINFObt_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. + 9.56sINFOamclSubscribed to map_topic: /map + 9.56sINFOamclSubscribed to scan_topic: /scan_merged + 9.56sINFOamclCreated reinitialize_global_localization service + 9.56sINFOamclCreated request_nomotion_update service + 9.56sINFOamclA new map was received + 9.56sINFOamclInitializing particle filter instance + 9.58sINFObt_navigatorCreating + 9.58sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.309563 seconds + 9.58sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.58sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.58sINFOmove_groupLoaded robot model in 0.309563 seconds[0m ×2 + 9.59sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.59sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.60sWARNlaser_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. + 9.60sWARNlaser_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. + 9.60sWARNscan_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 + 9.63sINFOwaypoint_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. + 9.63sINFOwaypoint_followerCreating + 9.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.69sINFOvelocity_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. + 9.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.73sINFOlifecycle_manager_navigationCreating + 9.75sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328019 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328019 ms (missed cycles : 3).[0m ×2 + 9.78sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.78sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.78sINFOcontroller_serverConfiguring controller interface + 9.78sINFOcontroller_servergetting progress checker plugins.. + 9.78sINFOcontroller_servergetting goal checker plugins.. + 9.78sINFOcontroller_serverController frequency set to 20.0000Hz + 9.78sINFOlocal_costmap.local_costmapConfiguring + 9.80sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.82sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.85sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.85sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.85sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.88sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.89sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.89sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.89sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.89sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.91sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.94sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.94sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.99sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.99sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.99sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.99sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 10.00sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 10.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 10.00sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 10.00sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 10.00sINFOamclParticle filter initialization completed + 10.00sINFOamclInitializing particles from estimated pose and covariance + 10.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 10.01sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 10.01sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 10.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 10.02sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 10.02sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 10.02sINFOcontroller_serverOptimizer reset + 10.04sINFOcontroller_serverController Server has FollowPath controllers available. + 10.06sINFOlifecycle_manager_localizationServer amcl connected with bond. + 10.06sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 10.06sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 10.06sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 10.06sINFOsmoother_serverConfiguring smoother server + 10.08sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 10.09sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 10.10sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.10sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.10sWARNmove_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. + 10.10sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 10.10sWARNmove_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. + 10.10sINFOplanner_serverConfiguring + 10.10sINFOglobal_costmap.global_costmapConfiguring + 10.10sWARNmove_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. + 10.11sWARNmove_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 + 10.11sWARNmove_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. + 10.11sINFOamclThe bond connection to the lifecycle manager is now fully formed + 10.11sWARNmove_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. + 10.11sWARNmove_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. + 10.11sWARNmove_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. + 10.11sWARNmove_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. + 10.11sWARNmove_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. + 10.11sWARNmove_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. + 10.12sWARNmove_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 + 10.12sWARNmove_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 + 10.12sWARNmove_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 + 10.12sWARNmove_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 + 10.12sWARNmove_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 + 10.13sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 10.13sWARNmove_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 + 10.13sWARNmove_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 + 10.13sWARNmove_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 + 10.13sWARNmove_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 + 10.13sINFOwaypoint_manager_nodeLoaded robot model in 0.380268 seconds[0m ×2 + 10.14sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.14sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 10.14sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.14sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 10.14sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 10.14sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 10.17sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.18sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.18sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.23sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 10.23sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 10.25sINFOplanner_serverPlanner Server has GridBased planners available. + 10.27sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 10.27sINFObehavior_serverConfiguring + 10.29sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 10.29sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 10.29sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 10.30sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 10.31sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 10.32sINFObehavior_serverConfiguring spin + 10.35sINFObehavior_serverConfiguring backup + 10.36sINFObehavior_serverConfiguring drive_on_heading + 10.36sINFObehavior_serverConfiguring assisted_teleop + 10.38sINFObehavior_serverConfiguring wait + 10.42sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 10.42sINFObt_navigatorConfiguring + 10.42sINFOmove_group[2026-07-30 09:54:19.985] [moveit_pro_license] [info] ×2 + 10.42sINFOmove_group************************************************* ×4 + 10.42sINFOmove_group* MoveIt Pro License ×2 + 10.42sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.42sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 10.44sWARNbt_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 + 10.54sERRORcomponent_container_isolated-1process has died [pid 9284, exit code -8, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_o77x_77p --params-file /tmp/launch_params_4br3fu_h -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.56sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 10.70sWARNwaypoint_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. + 10.70sWARNwaypoint_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 + 10.70sWARNwaypoint_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. + 10.70sWARNwaypoint_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. + 10.70sWARNwaypoint_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. + 10.70sWARNwaypoint_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 + 10.70sWARNwaypoint_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. + 10.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.70sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.71sWARNwaypoint_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. + 10.71sWARNwaypoint_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. + 10.71sWARNwaypoint_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. + 10.71sWARNwaypoint_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. + 10.71sWARNwaypoint_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 + 10.71sWARNwaypoint_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 + 10.71sWARNwaypoint_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 + 10.71sWARNwaypoint_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 + 10.71sWARNwaypoint_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. + 10.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.71sWARNwaypoint_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. + 10.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.72sWARNwaypoint_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. + 10.72sWARNwaypoint_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 + 10.72sWARNwaypoint_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. + 10.72sWARNwaypoint_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 + 10.72sWARNwaypoint_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. + 10.72sWARNwaypoint_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. + 10.72sWARNwaypoint_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 + 10.72sWARNwaypoint_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. + 10.72sWARNwaypoint_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. + 10.73sWARNwaypoint_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. + 10.73sWARNwaypoint_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. + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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. + 10.73sWARNwaypoint_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. + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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 + 10.73sWARNwaypoint_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. + 10.73sWARNwaypoint_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. + 10.73sWARNwaypoint_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 + 10.74sWARNwaypoint_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 + 10.74sWARNwaypoint_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. + 10.74sWARNwaypoint_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 + 10.74sWARNwaypoint_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. + 10.74sWARNwaypoint_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 + 10.77sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.77sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.77sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.77sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.77sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.77sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.77sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.77sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.77sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.78sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.78sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.78sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.79sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.79sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.79sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.79sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.79sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271995 ms (missed cycles : 4). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271995 ms (missed cycles : 4).[0m ×2 + 10.94sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.94sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.94sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.94sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 11.08sINFOwaypoint_manager_node[2026-07-30 09:54:20.641] [moveit_pro_license] [info] ×2 + 11.08sINFOwaypoint_manager_node************************************************* ×4 + 11.08sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 11.08sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.41sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 11.41sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.43sINFOobjective_server_node[2026-07-30 09:54:20.990] [moveit_pro_license] [info] ×2 + 11.43sINFOobjective_server_node************************************************* ×4 + 11.43sINFOobjective_server_node* MoveIt Pro License ×2 + 11.43sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.48sINFOobjective_server_nodeLoaded robot model in 0.0154087 seconds[0m ×2 + 11.48sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.48sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.51sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.51sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.51sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 11.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.51sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.51sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.52sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.52sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.52sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.52sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.52sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.52sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.52sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.52sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.52sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.52sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.52sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.52sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.54sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.54sWARNros2_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 + 11.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.57sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.57sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.67sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 11.67sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 11.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.68sWARNobjective_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. + 11.68sWARNobjective_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. + 11.68sWARNobjective_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. + 11.68sWARNobjective_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 + 11.68sWARNobjective_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. + 11.68sWARNobjective_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 + 11.68sWARNobjective_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. + 11.68sWARNobjective_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. + 11.68sWARNobjective_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 + 11.68sWARNobjective_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 + 11.68sWARNobjective_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 + 11.68sWARNobjective_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. + 11.68sWARNobjective_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. + 11.68sWARNobjective_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. + 11.68sWARNobjective_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. + 11.69sWARNobjective_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 + 11.69sWARNobjective_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 + 11.69sWARNobjective_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 + 11.69sWARNobjective_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 + 11.69sWARNobjective_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 + 11.69sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.69sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.73sINFOobjective_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 + 11.73sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.75sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.75sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.75sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.75sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.75sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.75sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 11.75sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.92sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 11.92sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 11.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.94sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 11.94sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 11.94sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 11.94sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 11.94sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 11.94sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 11.94sINFOstreaming_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) + 11.94sINFOcomponent_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 + 11.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 11.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 11.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 11.97sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 11.97sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 12.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 12.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 12.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 12.12sINFOmove_groupMoveGroup debug mode is ON + 12.12sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 12.12sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 12.12sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 12.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 12.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 12.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 12.14sINFOstreaming_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) + 12.14sINFOcomponent_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 + 12.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 12.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.15sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 12.16sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 12.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 12.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244341 ms (missed cycles : 2). + 12.16sWARNcomponent_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 + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244341 ms (missed cycles : 2).[0m ×2 + 12.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 12.17sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 12.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 12.18sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.18sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 12.21sINFOros2_control_node[2026-07-30 09:54:21.777] [info] Controller state will be published at 20 Hz. ×2 + 12.22sINFOros2_control_node[2026-07-30 09:54:21.778] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.24sINFOmove_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 ****************************************************** + 12.24sINFOmove_group ×8 + 12.24sINFOmove_group****************************************************** ×4 + 12.24sINFOmove_group* MoveGroup using: ×2 + 12.24sINFOmove_group* - apply_planning_scene_service ×2 + 12.24sINFOmove_group* - clear_octomap_service ×2 + 12.24sINFOmove_group* - get_group_urdf ×2 + 12.24sINFOmove_group* - load_geometry_from_file ×2 + 12.24sINFOmove_group* - get_planning_scene_service ×2 + 12.24sINFOmove_group* - kinematics_service ×2 + 12.24sINFOmove_group* - save_geometry_to_file ×2 + 12.24sINFOmove_group* - GetPlanningGroups ×2 + 12.24sINFOmove_group* - URDFPlanningSceneCapability ×2 + 12.24sINFOmove_group[0m ×2 + 12.24sINFOmove_group[92mYou can start planning now![0m ×2 + 12.74sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785405261.195 for reason 'discarding message because the queue is full' + 13.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018420 ms (missed cycles : 4). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018420 ms (missed cycles : 4).[0m ×2 + 13.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.36sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 13.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 13.38sINFOros2-18process has finished cleanly [pid 9378] ×2 + 13.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.41sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.41sINFOforce_torque_sensor_broadcasterconfigure successful + 13.41sINFOros2_control_nodeconfigure successful[0m ×6 + 13.42sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 13.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 13.42sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.75sINFOros2-9process has finished cleanly [pid 9369] ×2 + 13.80sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 13.80sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 13.85sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.85sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.85sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.85sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 14.09sINFOros2_control_node[2026-07-30 09:54:23.650] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.09sINFOros2_control_node[2026-07-30 09:54:23.652] [info] Controller state will be published at 10 Hz. ×2 + 14.09sINFOros2_control_node[2026-07-30 09:54:23.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524661 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524661 ms (missed cycles : 3).[0m ×2 + 14.24sINFOcomponent_container_mtLoaded robot model in 2.07774 seconds[0m ×2 + 14.24sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 14.24sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.43sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.44sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 14.44sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 14.50sINFOros2-17process has finished cleanly [pid 9377] ×2 + 14.50sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 14.50sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 14.50sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 14.50sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 14.51sINFOplatform_velocity_controllerconfigure successful + 14.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.51sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 14.51sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 14.52sWARNplanning_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. + 14.52sWARNplanning_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. + 14.52sWARNcomponent_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 + 14.52sWARNplanning_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. + 14.52sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.53sWARNplanning_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. + 14.53sWARNcomponent_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 + 14.53sWARNcomponent_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 + 14.53sWARNplanning_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. + 14.54sWARNplanning_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. + 14.54sWARNcomponent_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 + 14.54sWARNcomponent_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 + 14.54sWARNplanning_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. + 14.54sWARNcomponent_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 + 14.54sWARNcomponent_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 + 14.79sINFOcomponent_container_mt[2026-07-30 09:54:24.357] [moveit_pro_license] [info] ×2 + 14.79sINFOcomponent_container_mt************************************************* ×4 + 14.79sINFOcomponent_container_mt* MoveIt Pro License ×2 + 14.79sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.81sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 14.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.81sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 14.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 14.81sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 14.86sINFOros2-12process has finished cleanly [pid 9372] ×2 + 14.87sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 14.87sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 14.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 14.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 14.87sINFOplatform_velocity_controller_nav2configure successful + 15.08sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 15.08sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 15.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 15.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 15.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 15.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 15.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 15.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 15.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 15.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 15.22sINFOros2-14process has finished cleanly [pid 9374] ×2 + 15.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.22sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 15.22sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 15.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665449 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665449 ms (missed cycles : 3).[0m ×2 + 15.25sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785405263.695 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 15.26sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 15.26sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 15.26sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.26sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.26sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.26sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.27sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 15.27sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 15.60sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 15.60sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 15.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 15.60sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 15.60sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 15.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 15.61sINFOros2-13process has finished cleanly [pid 9373] ×2 + 15.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 15.66sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 15.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 15.66sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 15.91sINFOros2_control_node[2026-07-30 09:54:25.468] [info] Controller state will be published at 20 Hz. ×2 + 15.91sINFOros2_control_node[2026-07-30 09:54:25.469] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 16.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 16.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 16.18sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 16.20sINFOros2-19process has finished cleanly [pid 9379] ×2 + 16.24sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 16.24sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 16.24sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 16.24sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423629 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423629 ms (missed cycles : 4).[0m ×2 + 16.48sINFOros2_control_node[2026-07-30 09:54:26.038] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.48sINFOros2_control_node[2026-07-30 09:54:26.040] [info] Controller state will be published at 10 Hz. ×2 + 16.48sINFOros2_control_node[2026-07-30 09:54:26.042] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.76sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/load_controller to become available... + 16.76sINFOros2waiting for service /controller_manager/load_controller to become available...[0m ×2 + 16.76sINFOros2-16process has finished cleanly [pid 9376] ×2 + 17.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 17.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 17.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 17.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 17.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 17.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 17.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 17.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 17.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 17.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 17.07sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 17.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 17.07sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 17.07sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 17.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 17.07sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 17.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 17.07sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 17.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 17.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 17.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587505 ms (missed cycles : 4). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587505 ms (missed cycles : 4).[0m ×2 + 17.37sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.37sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.37sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.37sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.38sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 17.38sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 17.42sINFOros2-15process has finished cleanly [pid 9375] ×2 + 17.43sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.43sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.43sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.43sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.44sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.44sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.44sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.44sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 17.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785405266.195 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 17.78sINFOros2-10process has finished cleanly [pid 9370] ×2 + 17.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 18.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h + 18.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_by73b0kp --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_1pxr3h8g --params-file /tmp/launch_params_50iaez8h [0m ×2 + 18.09sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 18.09sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.09sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 18.09sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 18.09sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.10sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 18.10sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 18.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.11sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.11sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 2.614ms + 18.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 18.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 18.42sINFOros2-11process has finished cleanly [pid 9371] ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754146 ms (missed cycles : 5). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754146 ms (missed cycles : 5).[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750141 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750141 ms (missed cycles : 3).[0m ×2 + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 21.55sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 23.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.45sINFOmove_groupClearing octomap...[0m ×2 + 23.46sINFOmove_groupOctomap cleared.[0m ×2 + 23.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 24.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 24.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 25.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.31sINFOobjective_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 + 25.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 25.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 25.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/__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	73.4s	3 errors · 237 warnings · 206 info
+ 0.00sINFOamclParticle filter update iteration stats: 3700 particles 723 points - 5.713ms + 0.50sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 3.088ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198013 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198013 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.489ms + 1.50sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 2.076ms + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029195 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029195 ms (missed cycles : 3).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.889ms + 2.50sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.221ms + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794634 ms (missed cycles : 4). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794634 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.028ms + 3.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 3.50sINFOjoint_trajectory_controllerGot request to cancel goal + 3.50sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.51sERRORobjective_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: 1785405479.83368158 seconds ×3 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708917 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708917 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.618ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 4.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785405480.38308358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.061ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.601ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.232199 ms (missed cycles : 7). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.232199 ms (missed cycles : 7).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.489ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.688ms + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.244ms + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751895 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751895 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.481ms + 6.20sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 3.979ms + 6.70sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 3.051ms + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284793 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284793 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895571 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895571 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 2.473ms + 8.59sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.006ms + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910943 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910943 ms (missed cycles : 2).[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885330 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885330 ms (missed cycles : 2).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979822 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979822 ms (missed cycles : 2).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 11.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms ×3 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601950 ms (missed cycles : 3). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601950 ms (missed cycles : 3).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 12.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189249 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189249 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739241 ms (missed cycles : 3). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739241 ms (missed cycles : 3).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.726ms + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846391 ms (missed cycles : 5). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846391 ms (missed cycles : 5).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.809ms + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500215 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500215 ms (missed cycles : 3).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.315723 ms (missed cycles : 7). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.315723 ms (missed cycles : 7).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731887 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731887 ms (missed cycles : 2).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192624 ms (missed cycles : 4). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192624 ms (missed cycles : 4).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628249 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628249 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795460 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795460 ms (missed cycles : 2).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078547 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078547 ms (missed cycles : 2).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.297560 ms (missed cycles : 7). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.297560 ms (missed cycles : 7).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.401597 ms (missed cycles : 7). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.401597 ms (missed cycles : 7).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147572 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147572 ms (missed cycles : 2).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485538 ms (missed cycles : 4). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485538 ms (missed cycles : 4).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643844 ms (missed cycles : 3). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643844 ms (missed cycles : 3).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199349 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199349 ms (missed cycles : 2).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.705ms + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258217 ms (missed cycles : 2). + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258217 ms (missed cycles : 2).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454851 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454851 ms (missed cycles : 2).[0m ×2 + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556514 ms (missed cycles : 2). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556514 ms (missed cycles : 2).[0m ×2 + 32.71sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554359 ms (missed cycles : 2). + 32.71sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554359 ms (missed cycles : 2).[0m ×2 + 32.95sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 33.61sINFOobjective_server_nodePlanning for 35 path waypoints. ×6 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517214 ms (missed cycles : 4). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517214 ms (missed cycles : 4).[0m ×2 + 34.80sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203879 ms (missed cycles : 4). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203879 ms (missed cycles : 4).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127737 ms (missed cycles : 4). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127737 ms (missed cycles : 4).[0m ×2 + 36.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320445 ms (missed cycles : 4). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320445 ms (missed cycles : 4).[0m ×2 + 37.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 37.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 37.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807622 ms (missed cycles : 3). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807622 ms (missed cycles : 3).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618791 ms (missed cycles : 6). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618791 ms (missed cycles : 6).[0m ×2 + 39.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711902 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711902 ms (missed cycles : 2).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037488 ms (missed cycles : 4). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037488 ms (missed cycles : 4).[0m ×2 + 41.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138409 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138409 ms (missed cycles : 2).[0m ×2 + 43.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087324 ms (missed cycles : 5). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087324 ms (missed cycles : 5).[0m ×2 + 44.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282296 ms (missed cycles : 2). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282296 ms (missed cycles : 2).[0m ×2 + 45.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337248 ms (missed cycles : 3). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337248 ms (missed cycles : 3).[0m ×2 + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743582 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743582 ms (missed cycles : 3).[0m ×2 + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708107 ms (missed cycles : 2). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708107 ms (missed cycles : 2).[0m ×2 + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154739 ms (missed cycles : 4). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154739 ms (missed cycles : 4).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418936 ms (missed cycles : 4). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418936 ms (missed cycles : 4).[0m ×2 + 49.80sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637020 ms (missed cycles : 3). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637020 ms (missed cycles : 3).[0m ×2 + 51.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620726 ms (missed cycles : 6). + 51.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620726 ms (missed cycles : 6).[0m ×2 + 52.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826022 ms (missed cycles : 4). + 52.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826022 ms (missed cycles : 4).[0m ×2 + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658887 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658887 ms (missed cycles : 2).[0m ×2 + 54.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094437 ms (missed cycles : 4). + 54.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094437 ms (missed cycles : 4).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265960 ms (missed cycles : 4). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265960 ms (missed cycles : 4).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074527 ms (missed cycles : 5). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074527 ms (missed cycles : 5).[0m ×2 + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436344 ms (missed cycles : 3). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436344 ms (missed cycles : 3).[0m ×2 + 58.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms ×2 + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555253 ms (missed cycles : 3). + 59.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555253 ms (missed cycles : 3).[0m ×2 + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322165 ms (missed cycles : 4). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322165 ms (missed cycles : 4).[0m ×2 + 60.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 61.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652783 ms (missed cycles : 2). + 61.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652783 ms (missed cycles : 2).[0m ×2 + 62.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189798 ms (missed cycles : 3). + 62.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189798 ms (missed cycles : 3).[0m ×2 + 62.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 63.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.694004 ms (missed cycles : 6). + 63.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.694004 ms (missed cycles : 6).[0m ×2 + 64.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060025 ms (missed cycles : 2). + 64.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060025 ms (missed cycles : 2).[0m ×2 + 65.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141662 ms (missed cycles : 5). + 65.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141662 ms (missed cycles : 5).[0m ×2 + 66.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920301 ms (missed cycles : 4). + 66.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920301 ms (missed cycles : 4).[0m ×2 + 67.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296151 ms (missed cycles : 2). + 67.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296151 ms (missed cycles : 2).[0m ×2 + 67.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 68.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 68.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812886 ms (missed cycles : 4). + 68.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812886 ms (missed cycles : 4).[0m ×2 + 69.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685997 ms (missed cycles : 3). + 69.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685997 ms (missed cycles : 3).[0m ×2 + 69.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 70.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 70.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821352 ms (missed cycles : 3). + 70.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821352 ms (missed cycles : 3).[0m ×2 + 71.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 71.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380364 ms (missed cycles : 4). + 71.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380364 ms (missed cycles : 4).[0m ×2 + 72.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 72.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846309 ms (missed cycles : 2). + 72.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846309 ms (missed cycles : 2).[0m ×2 + 73.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 73.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376064 ms (missed cycles : 3). + 73.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376064 ms (missed cycles : 3).[0m ×2 + 74.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 75.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454773 ms (missed cycles : 3). + 75.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454773 ms (missed cycles : 3).[0m ×2 + 75.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 76.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974334 ms (missed cycles : 4). + 76.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974334 ms (missed cycles : 4).[0m ×2 + 76.87sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785405553.19326687 seconds ×3 + 77.00sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 2.070ms + 77.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979190 ms (missed cycles : 4). + 77.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979190 ms (missed cycles : 4).[0m ×2 + 77.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.540ms + 77.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 77.41sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785405553.73884654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 78.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 78.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 79.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 79.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 79.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.5s	183 warnings · 164 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785405318.54982233 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785405319.08723664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.38sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.38sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.38sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.38sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785405321.99738526 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691093 ms (missed cycles : 5). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691093 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785405322.53886771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364970 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364970 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666646 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666646 ms (missed cycles : 4).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515599 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515599 ms (missed cycles : 2).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.545ms + 8.10sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.338ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941241 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941241 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.707034 ms (missed cycles : 5). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.707034 ms (missed cycles : 5).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576585 ms (missed cycles : 3). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576585 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061477 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061477 ms (missed cycles : 2).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909531 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909531 ms (missed cycles : 2).[0m ×2 + 12.60sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.754ms + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.557414 ms (missed cycles : 6). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.557414 ms (missed cycles : 6).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918243 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918243 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979513 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979513 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms ×3 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179241 ms (missed cycles : 8). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179241 ms (missed cycles : 8).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090755 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090755 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.708ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229743 ms (missed cycles : 3). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229743 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275066 ms (missed cycles : 4). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275066 ms (missed cycles : 4).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842080 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842080 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210187 ms (missed cycles : 4). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210187 ms (missed cycles : 4).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710808 ms (missed cycles : 4). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710808 ms (missed cycles : 4).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905337 ms (missed cycles : 2). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905337 ms (missed cycles : 2).[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623431 ms (missed cycles : 3). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623431 ms (missed cycles : 3).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782596 ms (missed cycles : 2). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782596 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076479 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076479 ms (missed cycles : 2).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997763 ms (missed cycles : 2). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997763 ms (missed cycles : 2).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942387 ms (missed cycles : 5). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942387 ms (missed cycles : 5).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417607 ms (missed cycles : 2). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417607 ms (missed cycles : 2).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.678ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223271 ms (missed cycles : 4). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223271 ms (missed cycles : 4).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683518 ms (missed cycles : 5). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683518 ms (missed cycles : 5).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311792 ms (missed cycles : 2). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311792 ms (missed cycles : 2).[0m ×2 + 34.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 34.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456480 ms (missed cycles : 7). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456480 ms (missed cycles : 7).[0m ×2 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591818 ms (missed cycles : 6). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.591818 ms (missed cycles : 6).[0m ×2 + 35.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801028 ms (missed cycles : 6). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801028 ms (missed cycles : 6).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030324 ms (missed cycles : 3). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030324 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300072 ms (missed cycles : 4). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300072 ms (missed cycles : 4).[0m ×2 + 38.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897337 ms (missed cycles : 2). + 39.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897337 ms (missed cycles : 2).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065330 ms (missed cycles : 2). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065330 ms (missed cycles : 2).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209201 ms (missed cycles : 2). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209201 ms (missed cycles : 2).[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726891 ms (missed cycles : 2). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726891 ms (missed cycles : 2).[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287034 ms (missed cycles : 4). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287034 ms (missed cycles : 4).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133328 ms (missed cycles : 4). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133328 ms (missed cycles : 4).[0m ×2 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176833 ms (missed cycles : 6). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176833 ms (missed cycles : 6).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634143 ms (missed cycles : 4). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634143 ms (missed cycles : 4).[0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134094 ms (missed cycles : 2). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134094 ms (missed cycles : 2).[0m ×2 + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942156 ms (missed cycles : 5). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942156 ms (missed cycles : 5).[0m ×2 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900507 ms (missed cycles : 2). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900507 ms (missed cycles : 2).[0m ×2 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367899 ms (missed cycles : 3). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367899 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813011 ms (missed cycles : 4). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813011 ms (missed cycles : 4).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597946 ms (missed cycles : 2). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597946 ms (missed cycles : 2).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246782 ms (missed cycles : 2). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246782 ms (missed cycles : 2).[0m ×2 + 54.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636383 ms (missed cycles : 3). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636383 ms (missed cycles : 3).[0m ×2 + 56.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981639 ms (missed cycles : 2). + 56.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981639 ms (missed cycles : 2).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 58.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 59.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 59.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 59.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 60.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 60.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 60.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 60.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 61.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 62.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 62.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 62.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.0s	183 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.29sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.36sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291789 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291789 ms (missed cycles : 2).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.233ms + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966045 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966045 ms (missed cycles : 5).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.874ms + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.203ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291933 ms (missed cycles : 4). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291933 ms (missed cycles : 4).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.447ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.157ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138057 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138057 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.670ms + 11.11sINFOamclParticle filter update iteration stats: 4993 particles 723 points - 6.210ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079489 ms (missed cycles : 4). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079489 ms (missed cycles : 4).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 3866 particles 723 points - 4.020ms + 12.11sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 3.625ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538570 ms (missed cycles : 4). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538570 ms (missed cycles : 4).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 2.996ms + 13.11sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 1.993ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241824 ms (missed cycles : 4). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241824 ms (missed cycles : 4).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.688ms + 14.11sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 1.640ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720847 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720847 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011205 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011205 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 16.51sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517718 ms (missed cycles : 4). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517718 ms (missed cycles : 4).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202162 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202162 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711014 ms (missed cycles : 5). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711014 ms (missed cycles : 5).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951798 ms (missed cycles : 5). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951798 ms (missed cycles : 5).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728904 ms (missed cycles : 3). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728904 ms (missed cycles : 3).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675555 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675555 ms (missed cycles : 2).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380765 ms (missed cycles : 4). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380765 ms (missed cycles : 4).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684152 ms (missed cycles : 2). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684152 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380866 ms (missed cycles : 4). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380866 ms (missed cycles : 4).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121395 ms (missed cycles : 6). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121395 ms (missed cycles : 6).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504036 ms (missed cycles : 4). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504036 ms (missed cycles : 4).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754126 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754126 ms (missed cycles : 3).[0m ×2 + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322515 ms (missed cycles : 4). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322515 ms (missed cycles : 4).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709632 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709632 ms (missed cycles : 4).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970297 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970297 ms (missed cycles : 2).[0m ×2 + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356559 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356559 ms (missed cycles : 3).[0m ×2 + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604001 ms (missed cycles : 3). + 33.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604001 ms (missed cycles : 3).[0m ×2 + 33.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685869 ms (missed cycles : 3). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685869 ms (missed cycles : 3).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms ×2 + 35.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256329 ms (missed cycles : 5). + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256329 ms (missed cycles : 5).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988252 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988252 ms (missed cycles : 3).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869567 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869567 ms (missed cycles : 3).[0m ×2 + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000641 ms (missed cycles : 5). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000641 ms (missed cycles : 5).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696371 ms (missed cycles : 3). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696371 ms (missed cycles : 3).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217570 ms (missed cycles : 4). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217570 ms (missed cycles : 4).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212536 ms (missed cycles : 3). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212536 ms (missed cycles : 3).[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748658 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748658 ms (missed cycles : 3).[0m ×2 + 43.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133672 ms (missed cycles : 2). + 44.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133672 ms (missed cycles : 2).[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708900 ms (missed cycles : 3). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708900 ms (missed cycles : 3).[0m ×2 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071026 ms (missed cycles : 2). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071026 ms (missed cycles : 2).[0m ×2 + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426505 ms (missed cycles : 6). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426505 ms (missed cycles : 6).[0m ×2 + 48.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919308 ms (missed cycles : 4). + 48.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919308 ms (missed cycles : 4).[0m ×2 + 48.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590055 ms (missed cycles : 3). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590055 ms (missed cycles : 3).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449845 ms (missed cycles : 2). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449845 ms (missed cycles : 2).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239069 ms (missed cycles : 2). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239069 ms (missed cycles : 2).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879371 ms (missed cycles : 5). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879371 ms (missed cycles : 5).[0m ×2 + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470089 ms (missed cycles : 4). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470089 ms (missed cycles : 4).[0m ×2 + 54.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712002 ms (missed cycles : 3). + 54.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712002 ms (missed cycles : 3).[0m ×2 + 55.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149100 ms (missed cycles : 2). + 55.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149100 ms (missed cycles : 2).[0m ×2 + 56.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195099 ms (missed cycles : 4). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195099 ms (missed cycles : 4).[0m ×2 + 57.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562287 ms (missed cycles : 3). + 57.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562287 ms (missed cycles : 3).[0m ×2 + 58.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 58.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105126 ms (missed cycles : 2). + 58.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105126 ms (missed cycles : 2).[0m ×2 + 59.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785405613.99197936 seconds ×3 + 59.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.806ms + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.052ms + 59.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901936 ms (missed cycles : 5). + 59.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901936 ms (missed cycles : 5).[0m ×2 + 59.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 59.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785405614.54290032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.21sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 60.23sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691491 ms (missed cycles : 3). + 60.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691491 ms (missed cycles : 3).[0m ×2 + 61.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 62.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827560 ms (missed cycles : 5). + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827560 ms (missed cycles : 5).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.4s	180 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785405414.44398522 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.526ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785405414.99141383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.657ms + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.471ms + 5.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.24sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.24sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.118ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695113 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695113 ms (missed cycles : 4).[0m ×2 + 7.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.025ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607332 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607332 ms (missed cycles : 5).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.510ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.224ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971217 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971217 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.589ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.704ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699818 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699818 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 4518 particles 723 points - 5.014ms + 11.41sINFOamclParticle filter update iteration stats: 4011 particles 723 points - 4.572ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916785 ms (missed cycles : 5). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916785 ms (missed cycles : 5).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 3.507ms + 12.41sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 2.925ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427074 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427074 ms (missed cycles : 4).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 2.675ms + 13.41sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.142ms + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914540 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914540 ms (missed cycles : 4).[0m ×2 + 13.91sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 1.597ms + 14.41sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.457ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974763 ms (missed cycles : 4). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974763 ms (missed cycles : 4).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.239ms + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268639 ms (missed cycles : 4). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268639 ms (missed cycles : 4).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723634 ms (missed cycles : 5). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723634 ms (missed cycles : 5).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090270 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090270 ms (missed cycles : 2).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678199 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678199 ms (missed cycles : 2).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134259 ms (missed cycles : 4). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134259 ms (missed cycles : 4).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898995 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898995 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 21.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.732ms + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238173 ms (missed cycles : 4). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238173 ms (missed cycles : 4).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853941 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853941 ms (missed cycles : 3).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725731 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725731 ms (missed cycles : 2).[0m ×2 + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.692ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613417 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613417 ms (missed cycles : 2).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms ×2 + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms ×2 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237794 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237794 ms (missed cycles : 2).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms ×2 + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329966 ms (missed cycles : 4). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329966 ms (missed cycles : 4).[0m ×2 + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918882 ms (missed cycles : 2). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918882 ms (missed cycles : 2).[0m ×2 + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229845 ms (missed cycles : 4). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229845 ms (missed cycles : 4).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.685ms + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379516 ms (missed cycles : 3). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379516 ms (missed cycles : 3).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms ×2 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978530 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978530 ms (missed cycles : 4).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448585 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448585 ms (missed cycles : 2).[0m ×2 + 33.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003725 ms (missed cycles : 2). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003725 ms (missed cycles : 2).[0m ×2 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087707 ms (missed cycles : 2). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087707 ms (missed cycles : 2).[0m ×2 + 34.73sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.36sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709808 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709808 ms (missed cycles : 2).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024767 ms (missed cycles : 2). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024767 ms (missed cycles : 2).[0m ×2 + 37.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440641 ms (missed cycles : 3). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440641 ms (missed cycles : 3).[0m ×2 + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344381 ms (missed cycles : 2). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344381 ms (missed cycles : 2).[0m ×2 + 38.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.798ms + 38.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649778 ms (missed cycles : 5). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649778 ms (missed cycles : 5).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 40.11sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414363 ms (missed cycles : 4). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414363 ms (missed cycles : 4).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349857 ms (missed cycles : 4). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.349857 ms (missed cycles : 4).[0m ×2 + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678389 ms (missed cycles : 2). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678389 ms (missed cycles : 2).[0m ×2 + 43.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624372 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624372 ms (missed cycles : 3).[0m ×2 + 44.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137411 ms (missed cycles : 2). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137411 ms (missed cycles : 2).[0m ×2 + 45.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.705ms + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189481 ms (missed cycles : 2). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189481 ms (missed cycles : 2).[0m ×2 + 46.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985198 ms (missed cycles : 5). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985198 ms (missed cycles : 5).[0m ×2 + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.733ms + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387563 ms (missed cycles : 3). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387563 ms (missed cycles : 3).[0m ×2 + 49.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142080 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142080 ms (missed cycles : 2).[0m ×2 + 50.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.671ms + 50.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196775 ms (missed cycles : 2). + 50.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196775 ms (missed cycles : 2).[0m ×2 + 51.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984463 ms (missed cycles : 5). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984463 ms (missed cycles : 5).[0m ×2 + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689764 ms (missed cycles : 5). + 52.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689764 ms (missed cycles : 5).[0m ×2 + 53.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839423 ms (missed cycles : 2). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839423 ms (missed cycles : 2).[0m ×2 + 54.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667550 ms (missed cycles : 2). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667550 ms (missed cycles : 2).[0m ×2 + 55.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342780 ms (missed cycles : 2). + 55.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342780 ms (missed cycles : 2).[0m ×2 + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167983 ms (missed cycles : 2). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167983 ms (missed cycles : 2).[0m ×2 + 57.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233649 ms (missed cycles : 4). + 57.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233649 ms (missed cycles : 4).[0m ×2 + 57.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 57.87sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785405468.88156366 seconds ×3 + 58.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.105ms + 58.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.976ms + 58.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.752ms + 58.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785405469.42951894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.037239 ms (missed cycles : 8). + 58.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.037239 ms (missed cycles : 8).[0m ×2 + 58.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.936ms + 58.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 59.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 59.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.267ms + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877382 ms (missed cycles : 2). + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877382 ms (missed cycles : 2).[0m ×2 + 59.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.789ms + 59.68sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.145ms + 60.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.959908 ms (missed cycles : 8). + 60.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.959908 ms (missed cycles : 8).[0m ×2 + 60.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.142ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 140 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.91sINFOmove_groupClearing octomap...[0m ×2 + 0.92sINFOmove_groupOctomap cleared.[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_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 + 2.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 4.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.84sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.84sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.84sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450124 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450124 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641773 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641773 ms (missed cycles : 3).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113673 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113673 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661754 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661754 ms (missed cycles : 4).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722834 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722834 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664938 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664938 ms (missed cycles : 5).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220193 ms (missed cycles : 4). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220193 ms (missed cycles : 4).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582073 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582073 ms (missed cycles : 3).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441680 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441680 ms (missed cycles : 4).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189972 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189972 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809951 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809951 ms (missed cycles : 2).[0m ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424294 ms (missed cycles : 4). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424294 ms (missed cycles : 4).[0m ×2 + 19.52sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 1.849ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704024 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704024 ms (missed cycles : 2).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910610 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910610 ms (missed cycles : 2).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308333 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308333 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536639 ms (missed cycles : 3). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536639 ms (missed cycles : 3).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413820 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413820 ms (missed cycles : 3).[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574335 ms (missed cycles : 2). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574335 ms (missed cycles : 2).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344868 ms (missed cycles : 2). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344868 ms (missed cycles : 2).[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669549 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669549 ms (missed cycles : 2).[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665611 ms (missed cycles : 2). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665611 ms (missed cycles : 2).[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717917 ms (missed cycles : 3). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717917 ms (missed cycles : 3).[0m ×2 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103799 ms (missed cycles : 2). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103799 ms (missed cycles : 2).[0m ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916604 ms (missed cycles : 5). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916604 ms (missed cycles : 5).[0m ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426253 ms (missed cycles : 3). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426253 ms (missed cycles : 3).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006205 ms (missed cycles : 5). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006205 ms (missed cycles : 5).[0m ×2 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549588 ms (missed cycles : 3). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549588 ms (missed cycles : 3).[0m ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191086 ms (missed cycles : 4). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191086 ms (missed cycles : 4).[0m ×2 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933346 ms (missed cycles : 3). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933346 ms (missed cycles : 3).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277476 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277476 ms (missed cycles : 2).[0m ×2 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816326 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816326 ms (missed cycles : 2).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675410 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675410 ms (missed cycles : 2).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055644 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055644 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449441 ms (missed cycles : 4). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449441 ms (missed cycles : 4).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5).[0m ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4).[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3).[0m ×2 + 46.41sINFOjoint_trajectory_controllerGoal reached, success! + 46.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785405318.54982233 seconds ×3 + 46.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785405319.08723664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3).[0m ×2 + 47.77sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). ×2 + 47.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2).[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.4s	105 warnings · 121 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631821 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631821 ms (missed cycles : 3).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.824ms + 1.91sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.91sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.96sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785405383.07315207 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109734 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109734 ms (missed cycles : 4).[0m ×2 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946608 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946608 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785405384.62384677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307106 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307106 ms (missed cycles : 4).[0m ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338749 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338749 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627989 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627989 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686437 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686437 ms (missed cycles : 3).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.631ms + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.514ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987397 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987397 ms (missed cycles : 2).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.335ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.332ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801188 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801188 ms (missed cycles : 2).[0m ×2 + 10.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.074ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337654 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337654 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 4621 particles 723 points - 4.409ms + 11.51sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 3.974ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761059 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761059 ms (missed cycles : 3).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 3232 particles 723 points - 4.303ms + 12.50sINFOamclParticle filter update iteration stats: 2920 particles 723 points - 3.057ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672572 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672572 ms (missed cycles : 2).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.439ms + 13.51sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 2.478ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087525 ms (missed cycles : 5). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087525 ms (missed cycles : 5).[0m ×2 + 14.01sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 2.206ms + 14.50sINFOamclParticle filter update iteration stats: 2502 particles 723 points - 2.297ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003806 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003806 ms (missed cycles : 2).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 2.785ms + 15.50sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.270ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754093 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754093 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.180ms + 16.51sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 1.953ms + 16.99sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.353ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858985 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858985 ms (missed cycles : 2).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.764ms + 18.00sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 2.189ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029146 ms (missed cycles : 4). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029146 ms (missed cycles : 4).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.372ms + 19.00sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.419ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333768 ms (missed cycles : 3). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333768 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.087ms + 20.00sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 1.825ms + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972484 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972484 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 1.607ms + 21.00sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 1.918ms + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968857 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968857 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.506ms + 22.00sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.210ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374032 ms (missed cycles : 4). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374032 ms (missed cycles : 4).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.498ms + 23.00sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 1.317ms + 23.50sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.314ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790716 ms (missed cycles : 2). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790716 ms (missed cycles : 2).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 1.332ms + 24.50sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.357ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127580 ms (missed cycles : 5). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127580 ms (missed cycles : 5).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 1.812ms + 25.50sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.289ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771514 ms (missed cycles : 2). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771514 ms (missed cycles : 2).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.156ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104475 ms (missed cycles : 5). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104475 ms (missed cycles : 5).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443823 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443823 ms (missed cycles : 2).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946279 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946279 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4).[0m ×2 + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3).[0m ×2 + 33.33sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785405414.44398522 seconds ×3 + 33.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.526ms + 33.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 33.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785405414.99141383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2).[0m ×2 + 34.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.657ms + 34.17sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 34.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 34.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4).[0m ×2 + 35.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.471ms + 35.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3).[0m ×2 + 36.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.118ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	12.6s	57 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149100 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149100 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195099 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195099 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562287 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562287 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105126 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105126 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785405613.99197936 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.806ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.052ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901936 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901936 ms (missed cycles : 5).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.252ms + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785405614.54290032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (6.69e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691491 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691491 ms (missed cycles : 3).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827560 ms (missed cycles : 5). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827560 ms (missed cycles : 5).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433955 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433955 ms (missed cycles : 5).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.665ms + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987913 ms (missed cycles : 5). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987913 ms (missed cycles : 5).[0m ×2 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 8.62sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.13sINFOobjective_server_nodeFound path in 69 iterations (0.0488381 s). ×2 + 9.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023955 ms (missed cycles : 5). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023955 ms (missed cycles : 5).[0m ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.65sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.14sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603802 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603802 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950962 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950962 ms (missed cycles : 5).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.276ms + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055543 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055543 ms (missed cycles : 2).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.355ms + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.062ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.741ms + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.732ms + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2).[0m ×2 + 16.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785405626.54423451 seconds ×3 + 16.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 16.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785405627.13027406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.72sINFOmove_groupClearing octomap...[0m ×2 + 16.72sINFOmove_groupOctomap cleared.[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.898ms + 17.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785405627.55041170 seconds ×3 + 17.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.217ms + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 17.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5).[0m ×2 + 17.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785405628.09067941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 18.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785405628.54081964 seconds ×3 + 18.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.424ms + 18.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4). + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.505ms + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	87 errors · 33 warnings · 386 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3).[0m ×2 + 0.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.741ms + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.732ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2).[0m ×2 + 2.67sINFOjoint_trajectory_controllerGoal reached, success! + 2.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785405626.54423451 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785405627.13027406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.898ms + 3.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785405627.55041170 seconds ×3 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.217ms + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785405628.09067941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785405628.54081964 seconds ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.424ms + 4.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4). + 5.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.505ms + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673007 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673007 ms (missed cycles : 5).[0m ×2 + 7.28sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307224 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307224 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989274 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989274 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820448 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820448 ms (missed cycles : 5).[0m ×2 + 10.64sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 10.70sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORweb_video_auth_proxy-34process has died [pid 9429, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.70sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961385 ms (missed cycles : 5). + 10.73sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-33process has died [pid 9428, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.74sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 10.77sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 10.78sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 10.80sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 10.81sINFOvideo_server-32process has finished cleanly [pid 9427] ×2 + 10.82sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 10.84sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.86sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.88sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.90sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.92sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.94sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.96sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.98sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961385 ms (missed cycles : 5).[0m ×2 + 11.01sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.01sINFOcontroller_managerShutdown request received.... + 11.01sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.01sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.01sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.01sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.01sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.01sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.01sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.01sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.01sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.01sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.01sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.01sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.01sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.01sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.01sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.01sINFOcontroller_managerShutting down the controller manager. + 11.01sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 11.01sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9426] ×2 + 11.03sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.04sERRORmove_group-20process has died [pid 9380, 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_cpctwhkf --params-file /tmp/launch_params_blfwjj4d --params-file /tmp/launch_params_6o06_4bw --params-file /tmp/launch_params_h6alqode --params-file /tmp/launch_params_xv3zji4t --params-file /tmp/launch_params_9hxqi4wa']. ×2 + 11.05sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.07sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.08sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.10sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.11sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.11sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.11sINFOmap_serverDeactivating + 11.11sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.12sINFOvideo_server2026/07/30 10:00:34 INF shutting down gracefully ×2 + 11.12sINFOvideo_server2026/07/30 10:00:34 INF [WebRTC] closing ×2 + 11.12sINFOvideo_server2026/07/30 10:00:34 INF [RTSP] closing ×2 + 11.12sINFOvideo_server2026/07/30 10:00:34 INF waiting for running hooks ×2 + 11.12sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.12sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.12sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.12sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.12sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.12sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.12sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.12sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.12sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.12sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.12sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.12sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.12sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.12sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.12sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.12sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.12sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.12sERRORmove_groupStack trace (most recent call last) in thread 9961: ×2 + 11.12sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.12sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd680bcca63, in __clone ×2 + 11.12sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd680b3faa3, in ×2 + 11.12sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd680dd1db3, in ×2 + 11.12sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd681514ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.13sINFOmap_serverCleaning up + 11.13sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.13sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd6811444d0, in rclcpp::Rate::sleep() ×2 + 11.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd681097a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd68105ca71, in ×2 + 11.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd680da0390, in __cxa_throw ×2 + 11.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd680d8aa54, in std::terminate() ×2 + 11.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd680da00d9, in ×2 + 11.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd680d8aff4, in ×2 + 11.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd680acb8fe, in abort ×2 + 11.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd680ae827d, in raise ×2 + 11.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd680b41b2c, in pthread_kill ×2 + 11.13sERRORmove_groupAborted (Signal sent by tkill() 9380 0) ×2 + 11.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.13sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.13sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.13sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.13sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.13sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.13sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.13sINFOobjective_server_node[2026-07-30 10:00:34.865] [moveit_pro_license] [info] ×2 + 11.13sINFOobjective_server_node************************************************* ×4 + 11.13sINFOobjective_server_node* MoveIt Pro License ×2 + 11.13sINFOobjective_server_node* Application has successfully terminated ×2 + 11.13sERRORobjective_server_node_main-25process has died [pid 9405, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_1bub574w --params-file /tmp/launch_params_oyeb3wol --params-file /tmp/launch_params_vqxar67j --params-file /tmp/launch_params_hcsc7cqg --params-file /tmp/launch_params_iuqe5zf_ --params-file /tmp/launch_params_pcm6jryq --params-file /tmp/launch_params_64nmyc02 --params-file /tmp/launch_params_2aombnpg --params-file /tmp/launch_params_g36jtlci']. ×2 + 11.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.14sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.14sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.14sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562c681ba6a4, in _start ×2 + 11.14sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe460528a, in __libc_start_main ×2 + 11.14sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe46051d0, in ×2 + 11.14sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe4622bbd, in exit ×2 + 11.14sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5fe4622a75, in ×2 + 11.14sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f5fe4af18f5, in spdlog::details::registry::~registry() ×2 + 11.14sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562c681bad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.14sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562c681c1315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.14sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562c681c05a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.14sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562c681bcb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.14sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562c681bad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.14sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5fe51ab454, in rclcpp::Node::~Node() ×2 + 11.14sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5fe5166515, in ×2 + 11.14sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5fe51a9d20, in ×2 + 11.14sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5fe51a9c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.14sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5fe51665d9, in ×2 + 11.14sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5fe516b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.14sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f5fadfebd50]) ×2 + 11.14sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.14sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.14sINFOodom_qos_relay.pymain() ×2 + 11.14sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.14sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.14sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.14sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.14sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.14sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.14sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.14sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.14sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.14sERRORamclThe bond connection to the lifecycle manager has been broken + 11.14sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.22sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.22sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.34sERRORcomponent_container_isolated-2process has died [pid 9285, 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_o77x_77p --params-file /tmp/launch_params_14vb31f1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.92sERRORui_teleop_bridge-29process has died [pid 9424, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_t4dstr0p']. ×2 + 11.92sINFOexecute_objective_bridge-28process has finished cleanly [pid 9408] ×2 + 11.94sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9404] ×2 + 11.95sINFOcomponent_container_mt-27process has finished cleanly [pid 9407] ×2 + 11.96sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9383] ×2 + 12.02sINFOwaypoint_manager_node-22process has finished cleanly [pid 9382] ×2 + 12.03sINFOparameter_manager_node-21process has finished cleanly [pid 9381] ×2 + 12.07sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9290] ×2 + 12.07sINFOcomponent_container_mt-26process has finished cleanly [pid 9406] ×2 + 12.08sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9289] ×2 + 12.12sINFOstatic_transform_publisher-4process has finished cleanly [pid 9287] ×2 + 12.13sINFOstatic_transform_publisher-3process has finished cleanly [pid 9286] ×2 + 12.15sERRORodom_qos_relay.py-5process has died [pid 9288, 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 + 13.31sINFOweb_bridge-30process has finished cleanly [pid 9425] ×2 + 13.32sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 13.77sINFOros2_control_node-8process has finished cleanly [pid 9291] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 54 warnings · 97 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667550 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667550 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342780 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342780 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.709ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167983 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167983 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233649 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233649 ms (missed cycles : 4).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785405468.88156366 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.105ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.976ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.752ms + 4.11sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785405469.42951894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.037239 ms (missed cycles : 8). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.037239 ms (missed cycles : 8).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.936ms + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.267ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877382 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877382 ms (missed cycles : 2).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.789ms + 5.38sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.145ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.959908 ms (missed cycles : 8). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.959908 ms (missed cycles : 8).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.142ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057949 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057949 ms (missed cycles : 5).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.228ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791524 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791524 ms (missed cycles : 2).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.014ms + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.756ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080144 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080144 ms (missed cycles : 2).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.510ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.615ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682729 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682729 ms (missed cycles : 2).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 4.670ms + 11.01sINFOamclParticle filter update iteration stats: 3700 particles 723 points - 5.713ms + 11.51sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 3.088ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198013 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198013 ms (missed cycles : 4).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.489ms + 12.50sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 2.076ms + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029195 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029195 ms (missed cycles : 3).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 1.889ms + 13.51sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.221ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794634 ms (missed cycles : 4). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794634 ms (missed cycles : 4).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.028ms + 14.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 14.50sINFOjoint_trajectory_controllerGot request to cancel goal + 14.50sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.52sERRORobjective_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: 1785405479.83368158 seconds ×3 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708917 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708917 ms (missed cycles : 2).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.618ms + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 15.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785405480.38308358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.061ms + 15.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.601ms + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.232199 ms (missed cycles : 7). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.232199 ms (missed cycles : 7).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.489ms + 16.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.688ms + 16.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.244ms + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751895 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751895 ms (missed cycles : 2).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.481ms + 17.20sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 3.979ms + 17.71sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 3.051ms + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284793 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284793 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.5s	33 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631821 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631821 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.824ms + 7.14sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785405383.07315207 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109734 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109734 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946608 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946608 ms (missed cycles : 5).[0m ×2 + 8.69sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785405384.62384677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307106 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307106 ms (missed cycles : 4).[0m ×2 + 10.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338749 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338749 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.7s	33 warnings · 63 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376064 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376064 ms (missed cycles : 3).[0m ×2 + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454773 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454773 ms (missed cycles : 3).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974334 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974334 ms (missed cycles : 4).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785405553.19326687 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 2.070ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979190 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979190 ms (missed cycles : 4).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.540ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 3.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785405553.73884654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 4.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 7.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 8.47sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 8.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.4s	30 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785405318.54982233 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785405319.08723664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3).[0m ×2 + 7.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785405321.99738526 seconds ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691093 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691093 ms (missed cycles : 5).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785405322.53886771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364970 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364970 ms (missed cycles : 3).[0m ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666646 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666646 ms (missed cycles : 4).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.0s	24 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055543 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055543 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.355ms + 0.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.062ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.741ms + 1.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.732ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785405626.54423451 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785405627.13027406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.29sINFOmove_groupClearing octomap...[0m ×2 + 4.29sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.898ms + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785405627.55041170 seconds ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.217ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785405628.09067941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785405628.54081964 seconds ×3 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.424ms + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4). + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.505ms + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673007 ms (missed cycles : 5). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673007 ms (missed cycles : 5).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal + 3.49sINFOjoint_trajectory_controllerAccepted new action goal + 3.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal + 3.49sINFOjoint_trajectory_controllerAccepted new action goal + 3.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal + 3.49sINFOjoint_trajectory_controllerAccepted new action goal + 3.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.91sINFOmove_groupClearing octomap...[0m ×2 + 0.92sINFOmove_groupOctomap cleared.[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 2.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_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 + 2.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 4.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.84sINFOjoint_trajectory_controllerReceived new action goal + 4.84sINFOjoint_trajectory_controllerAccepted new action goal + 4.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785405318.54982233 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785405319.08723664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479076 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031198 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320766 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653675 ms (missed cycles : 3).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785405318.54982233 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785405319.08723664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785405318.54982233 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785405319.08723664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640150 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (2.3661e-05 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745483 ms (missed cycles : 2).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116704 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785405321.99738526 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691093 ms (missed cycles : 5). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691093 ms (missed cycles : 5).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785405322.53886771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364970 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364970 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666646 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666646 ms (missed cycles : 4).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal + 3.49sINFOjoint_trajectory_controllerAccepted new action goal + 3.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	18 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967215 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718720 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.645ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680705 ms (missed cycles : 3).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785405378.53900552 seconds ×3 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.026ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.259ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667206 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785405379.09300160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.242ms + 3.45sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.49sINFOjoint_trajectory_controllerReceived new action goal + 3.49sINFOjoint_trajectory_controllerAccepted new action goal + 3.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839874 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703887 ms (missed cycles : 2).[0m ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785405414.44398522 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.526ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785405414.99141383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.657ms + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.471ms + 5.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.118ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785405414.44398522 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.526ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785405414.99141383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.657ms + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.471ms + 5.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.118ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423594 ms (missed cycles : 3).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879389 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217025 ms (missed cycles : 4).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285490 ms (missed cycles : 3).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.43sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785405414.44398522 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.526ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 3.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785405414.99141383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850686 ms (missed cycles : 2).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.657ms + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.458ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.436098 ms (missed cycles : 4).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.471ms + 5.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.24sINFOjoint_trajectory_controllerReceived new action goal + 5.24sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.985ms + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123295 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.118ms
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 31 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068473 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828403 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251097 ms (missed cycles : 4).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994857 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785405557.93899298 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785405558.49184036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295588 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744736 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914126 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055543 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055543 ms (missed cycles : 2).[0m ×2 + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.355ms + 0.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.062ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835280 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.741ms + 1.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741630 ms (missed cycles : 3).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.732ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785405626.54423451 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123016 ms (missed cycles : 2).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785405627.13027406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.29sINFOmove_groupClearing octomap...[0m ×2 + 4.29sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.898ms + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785405627.55041170 seconds ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.217ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.685122 ms (missed cycles : 5).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785405628.09067941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785405628.54081964 seconds ×3 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.424ms + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.170ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4). + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.505ms + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210811 ms (missed cycles : 4).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 6.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.91sINFOjoint_trajectory_controllerAccepted new action goal + 6.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750141 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750141 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.5s	24 warnings · 106 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 6.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	addtovector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750141 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750141 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.46sINFOros2_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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	24 warnings · 106 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254164 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 6.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[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 5.208281 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208281 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814389 ms (missed cycles : 3).[0m ×2 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785405273.01633716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785405273.02657437 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084409 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785405273.57058334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785405273.58074450 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595098 ms (missed cycles : 6).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785405274.12612915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785405274.27669096 seconds ×3 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785405274.85894299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_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 + 3.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785405274.90909600 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642840 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785405275.46026921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968021 ms (missed cycles : 2).[0m ×2 + 5.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102247 ms (missed cycles : 2).[0m ×2