69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 26.3s | 62 errors · 884 warnings · 1939 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/2026-07-30-11-37-43-645128-417a4b347bb9-9227 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 8.91sINFOros2_control_node-8process started with pid [9284] + 8.91sINFOmove_group-20process started with pid [9373] + 8.91sINFOparameter_manager_node-21process started with pid [9374] + 8.91sINFOwaypoint_manager_node-22process started with pid [9375] + 8.91sINFOmove_joint_resampler_node-23process started with pid [9376] + 8.91sINFOmove_end_effector_resampler_node-24process started with pid [9397] + 8.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 8.93sINFOobjective_server_node_main-25process started with pid [9398] + 8.93sINFOcomponent_container_mt-26process started with pid [9399] + 8.93sINFOcomponent_container_mt-27process started with pid [9400] + 8.93sINFOexecute_objective_bridge-28process started with pid [9401] + 8.93sINFOui_teleop_bridge-29process started with pid [9402] + 8.93sINFOweb_bridge-30process started with pid [9403] + 8.93sINFOtf2_web_republisher_node-31process started with pid [9404] + 8.93sINFOvideo_server-32process started with pid [9405] + 8.93sINFOweb_bridge_auth_proxy-33process started with pid [9406] + 8.93sINFOweb_video_auth_proxy-34process started with pid [9407] + 8.93sINFOcomponent_container_isolated-1process started with pid [9277] + 8.96sINFOcomponent_container_isolated-2process started with pid [9278] + 8.96sINFOstatic_transform_publisher-3process started with pid [9279] + 8.96sINFOstatic_transform_publisher-4process started with pid [9280] + 8.96sINFOodom_qos_relay.py-5process started with pid [9281] + 8.96sINFOscan_to_scan_filter_chain-6process started with pid [9282] + 8.96sINFOscan_to_scan_filter_chain-7process started with pid [9283] + 8.96sINFOros2-9process started with pid [9362] + 8.96sINFOros2-10process started with pid [9363] + 8.96sINFOros2-11process started with pid [9364] + 8.96sINFOros2-12process started with pid [9365] + 8.96sINFOros2-13process started with pid [9366] + 8.96sINFOros2-14process started with pid [9367] + 8.96sINFOros2-15process started with pid [9368] + 8.96sINFOros2-16process started with pid [9369] + 8.96sINFOros2-17process started with pid [9370] + 8.96sINFOros2-18process started with pid [9371] + 8.96sINFOros2-19process started with pid [9372] + 9.04sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 9.04sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 9.04sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 9.04sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 9.04sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 9.04sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 9.04sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 9.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 9.04sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 9.04sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 9.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 9.04sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.663376 ms (missed cycles : 6).[0m + 9.07sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 9.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 9.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 9.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 9.13sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 9.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 9.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 9.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 9.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 9.29sINFOcomponent_container_mtRobot initialized[0m ×3 + 9.29sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 9.29sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 9.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 9.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 9.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 9.31sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 9.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 9.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 9.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 9.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 9.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 9.56sINFOvideo_server2026/07/30 11:37:55 INF MediaMTX v1.19.3, linux, amd64 + 9.56sINFOvideo_server2026/07/30 11:37:55 INF configuration loaded from /tmp/moveit-webrtc-7p4dz2c7/mediamtx.yml + 9.56sINFOvideo_server2026/07/30 11:37:55 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) + 9.56sINFOvideo_server2026/07/30 11:37:55 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 9.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 9.64sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 9.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 9.71sINFOmove_groupLoaded robot model in 0.298993 seconds[0m + 9.71sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 9.71sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630569 ms (missed cycles : 3).[0m + 10.27sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×8 + 10.46sERRORcomponent_container_isolated-1process has died [pid 9277, 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_9bv3dxun --params-file /tmp/launch_params_avnn6uld -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. + 10.56sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 10.56sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 10.70sINFOmove_group[2026-07-30 11:37:56.812] [moveit_pro_license] [info] + 10.70sINFOmove_group************************************************* ×6 + 10.70sINFOmove_group* MoveIt Pro License ×3 + 10.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979927 ms (missed cycles : 2).[0m + 11.05sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 11.05sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 11.05sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 11.05sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 11.05sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 11.05sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 11.05sINFOmove_groupStarting planning scene monitor[0m ×3 + 11.06sINFOmove_groupListening to '/planning_scene'[0m ×3 + 11.06sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 11.06sINFOmove_groupListening to 'collision_object'[0m ×3 + 11.06sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 11.37sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 11.37sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 11.37sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 11.37sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 11.37sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 11.37sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 11.37sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 11.37sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 11.37sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 11.37sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 11.37sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 11.37sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 11.37sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 11.37sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 11.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 11.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 11.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 11.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 11.37sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 11.37sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 11.40sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 11.46sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 11.46sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 11.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 11.50sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 11.50sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 11.50sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 11.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 11.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 11.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 11.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 11.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 11.51sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 11.52sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 11.53sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 11.53sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 11.53sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 11.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 11.53sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 11.58sINFOwaypoint_manager_nodeLoaded robot model in 1.24983 seconds[0m + 11.58sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 11.58sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 11.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 11.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 11.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 11.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 11.70sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 11.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 11.73sINFOobjective_server_node[2026-07-30 11:37:57.840] [moveit_pro_license] [info] + 11.73sINFOobjective_server_node************************************************* ×8 + 11.73sINFOobjective_server_node* MoveIt Pro License ×4 + 11.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.79sINFOobjective_server_nodeLoaded robot model in 0.0195653 seconds[0m + 11.79sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 11.79sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 11.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 11.89sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 12.01sINFOwaypoint_manager_node[2026-07-30 11:37:58.124] [moveit_pro_license] [info] + 12.01sINFOwaypoint_manager_node************************************************* ×6 + 12.01sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 12.01sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 12.06sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.07sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 12.12sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 12.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 12.14sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 12.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 12.29sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 12.29sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 12.29sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 12.31sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 12.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 12.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 12.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 12.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 12.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 12.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 12.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 12.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 12.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 12.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 12.42sINFOmove_group ×12 + 12.42sINFOmove_group******************************************************** ×6 + 12.42sINFOmove_group* MoveGroup using: ×3 + 12.42sINFOmove_group* - apply_planning_scene_service ×3 + 12.42sINFOmove_group* - clear_octomap_service ×3 + 12.42sINFOmove_group* - get_group_urdf ×3 + 12.42sINFOmove_group* - load_geometry_from_file ×3 + 12.42sINFOmove_group* - get_planning_scene_service ×3 + 12.42sINFOmove_group* - kinematics_service ×3 + 12.42sINFOmove_group* - save_geometry_to_file ×3 + 12.42sINFOmove_group* - GetPlanningGroups ×3 + 12.42sINFOmove_group* - URDFPlanningSceneCapability ×3 + 12.42sINFOmove_group[0m ×3 + 12.42sINFOmove_group[92mYou can start planning now![0m ×3 + 12.48sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157679 ms (missed cycles : 4).[0m + 13.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 13.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.65sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 13.66sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541325 ms (missed cycles : 3).[0m + 13.70sINFOros2-10process has finished cleanly [pid 9363] + 13.71sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 13.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 13.73sINFOros2_control_nodeconfigure successful[0m ×9 + 13.97sINFOcomponent_container_mtLoaded robot model in 2.0854 seconds[0m + 13.97sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 13.98sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.16sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 14.16sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 14.16sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 14.18sINFOros2-14process has finished cleanly [pid 9367] + 14.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 14.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 14.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 14.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 14.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 14.50sINFOcomponent_container_mt[2026-07-30 11:38:00.609] [moveit_pro_license] [info] + 14.50sINFOcomponent_container_mt************************************************* ×6 + 14.50sINFOcomponent_container_mt* MoveIt Pro License ×3 + 14.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 14.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 14.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 14.54sINFOros2-9process has finished cleanly [pid 9362] + 14.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 14.69sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 14.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053632 ms (missed cycles : 4).[0m + 14.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 14.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 14.78sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 14.78sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 14.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 14.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 14.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 14.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 14.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 14.97sINFOros2_control_node[2026-07-30 11:38:01.076] [info] Controller state will be published at 20 Hz. + 14.97sINFOros2_control_node[2026-07-30 11:38:01.077] [info] JointVelocityController 'on_configure' succeeded. + 15.33sINFOros2-18process has finished cleanly [pid 9371] + 15.33sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 15.33sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 15.33sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 15.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 15.35sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 15.36sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 15.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 15.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 15.37sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837783 ms (missed cycles : 2).[0m + 15.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 15.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 15.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 15.88sINFOros2-13process has finished cleanly [pid 9366] + 15.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 15.90sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 15.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 15.90sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 15.90sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 15.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 15.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 16.26sINFOros2-11process has finished cleanly [pid 9364] + 16.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 16.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 16.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 16.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 16.61sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614457 ms (missed cycles : 2).[0m + 16.87sINFOros2_control_node[2026-07-30 11:38:02.984] [warning] No force/torque sensor configured. The VFC will ignore force references. + 16.88sINFOros2_control_node[2026-07-30 11:38:02.986] [info] Controller state will be published at 10 Hz. + 16.88sINFOros2_control_node[2026-07-30 11:38:02.988] [info] VelocityForceController 'on_configure' succeeded. + 17.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 17.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 17.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 17.24sINFOros2-16process has finished cleanly [pid 9369] + 17.31sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 17.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 17.32sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 17.32sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 17.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 17.32sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 17.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 17.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 17.67sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.67sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 17.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 17.70sINFOros2-15process has finished cleanly [pid 9368] + 17.74sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 17.74sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840389 ms (missed cycles : 5).[0m + 18.02sINFOros2_control_node[2026-07-30 11:38:04.126] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.02sINFOros2_control_node[2026-07-30 11:38:04.128] [info] Controller state will be published at 10 Hz. + 18.02sINFOros2_control_node[2026-07-30 11:38:04.132] [info] VelocityForceController 'on_configure' succeeded. + 18.34sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.34sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 18.34sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 18.40sINFOros2-17process has finished cleanly [pid 9370] + 18.41sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 18.41sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 18.67sINFOros2_control_node[2026-07-30 11:38:04.778] [info] Controller state will be published at 20 Hz. + 18.67sINFOros2_control_node[2026-07-30 11:38:04.779] [info] JointVelocityController 'on_configure' succeeded. + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158215 ms (missed cycles : 3).[0m + 19.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 19.04sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tlya4k7c --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_qt9c88sa --params-file /tmp/launch_params_we6zbt3p [0m + 19.05sINFOros2-19process has finished cleanly [pid 9372] + 19.10sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 19.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 19.11sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 19.11sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 19.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 19.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 19.43sINFOros2-12process has finished cleanly [pid 9365] + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104389 ms (missed cycles : 4).[0m + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998451 ms (missed cycles : 4).[0m + 21.40sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130171 ms (missed cycles : 4).[0m + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391605 ms (missed cycles : 3).[0m + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755067 ms (missed cycles : 2).[0m + 24.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411490.52193403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.41sINFOmove_groupClearing octomap...[0m ×4 + 24.41sINFOmove_groupOctomap cleared.[0m ×4 + 24.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411490.53218436 seconds + 24.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411491.07835817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411491.08945656 seconds + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933592 ms (missed cycles : 4).[0m + 25.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411491.63465595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411491.78536701 seconds + 26.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411492.35571408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 26.26sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 26.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 26.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 26.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 26.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 26.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411492.41595721 seconds + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720617 ms (missed cycles : 2).[0m + 26.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785411492.96423697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 26.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 26.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 26.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 26.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904347 ms (missed cycles : 3).[0m + 27.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×7 + 27.91sINFOobjective_server_nodePlanning for 177 path waypoints. + 28.17sINFOros2_control_nodeReceived new action goal[0m ×18 + 28.17sINFOros2_control_nodeAccepted new action goal[0m ×18 + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711620 ms (missed cycles : 3).[0m + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724572 ms (missed cycles : 5).[0m + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812640 ms (missed cycles : 3).[0m + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263861 ms (missed cycles : 4).[0m + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394391 ms (missed cycles : 3).[0m + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978463 ms (missed cycles : 2).[0m + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424239 ms (missed cycles : 2).[0m + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.094034 ms (missed cycles : 5).[0m + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924744 ms (missed cycles : 3).[0m + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575884 ms (missed cycles : 2).[0m + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856946 ms (missed cycles : 3).[0m + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319851 ms (missed cycles : 3).[0m + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414093 ms (missed cycles : 3).[0m + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160999 ms (missed cycles : 4).[0m + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086790 ms (missed cycles : 4).[0m + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674609 ms (missed cycles : 3).[0m + 44.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688046 ms (missed cycles : 2).[0m + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414424 ms (missed cycles : 3).[0m + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028546 ms (missed cycles : 2).[0m + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053449 ms (missed cycles : 4).[0m + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373719 ms (missed cycles : 3).[0m + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233121 ms (missed cycles : 3).[0m + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030045 ms (missed cycles : 4).[0m + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773979 ms (missed cycles : 2).[0m + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773920 ms (missed cycles : 3).[0m + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191238 ms (missed cycles : 2).[0m + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522877 ms (missed cycles : 4).[0m + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883173 ms (missed cycles : 2).[0m + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320060 ms (missed cycles : 4).[0m + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947027 ms (missed cycles : 2).[0m + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056764 ms (missed cycles : 5).[0m + 60.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684824 ms (missed cycles : 3).[0m + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175065 ms (missed cycles : 2).[0m + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143572 ms (missed cycles : 4).[0m + 63.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632159 ms (missed cycles : 3).[0m + 64.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968395 ms (missed cycles : 2).[0m + 65.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675672 ms (missed cycles : 2).[0m + 66.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811598 ms (missed cycles : 3).[0m + 67.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541200 ms (missed cycles : 4).[0m + 68.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733053 ms (missed cycles : 3).[0m + 69.77sINFOros2_control_nodeGoal reached, success![0m ×16 + 69.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785411535.94109964 seconds + 69.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946372 ms (missed cycles : 5).[0m + 70.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785411536.48951387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 70.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202436 ms (missed cycles : 4).[0m + 71.15sINFOobjective_server_nodeFound path in 0 iterations (1.9861e-05 s). + 71.15sINFOobjective_server_nodePath shortcutter: [X____X] + 71.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 72.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879934 ms (missed cycles : 3).[0m + 73.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079641 ms (missed cycles : 2).[0m + 73.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785411539.39964342 seconds + 73.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785411539.95352888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634260 ms (missed cycles : 4).[0m + 74.13sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). + 75.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141846 ms (missed cycles : 2).[0m + 75.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 76.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897634 ms (missed cycles : 3).[0m + 77.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734609 ms (missed cycles : 3).[0m + 78.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109260 ms (missed cycles : 4).[0m + 79.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078312 ms (missed cycles : 4).[0m + 80.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220800 ms (missed cycles : 5).[0m + 81.41sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m + 81.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904465 ms (missed cycles : 2).[0m + 82.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071089 ms (missed cycles : 5).[0m + 83.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081368 ms (missed cycles : 5).[0m + 84.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.635564 ms (missed cycles : 6).[0m + 85.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633127 ms (missed cycles : 3).[0m + 86.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994639 ms (missed cycles : 5).[0m + 87.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395936 ms (missed cycles : 2).[0m + 88.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027796 ms (missed cycles : 2).[0m + 89.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866603 ms (missed cycles : 2).[0m + 90.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729006 ms (missed cycles : 3).[0m + 91.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052629 ms (missed cycles : 5).[0m + 92.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611798 ms (missed cycles : 4).[0m + 93.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.282136 ms (missed cycles : 6).[0m + 94.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135388 ms (missed cycles : 2).[0m + 95.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423034 ms (missed cycles : 2).[0m + 97.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581487 ms (missed cycles : 6).[0m + 98.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919371 ms (missed cycles : 2).[0m + 99.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981125 ms (missed cycles : 2).[0m +100.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058497 ms (missed cycles : 2).[0m +101.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524481 ms (missed cycles : 4).[0m +102.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050940 ms (missed cycles : 2).[0m +103.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555825 ms (missed cycles : 2).[0m +104.05sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +104.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265730 ms (missed cycles : 2).[0m +105.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.315266 ms (missed cycles : 7).[0m +106.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485537 ms (missed cycles : 4).[0m +107.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661525 ms (missed cycles : 6).[0m +108.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286367 ms (missed cycles : 3).[0m +109.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680043 ms (missed cycles : 3).[0m +110.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797054 ms (missed cycles : 2).[0m +111.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127002 ms (missed cycles : 3).[0m +112.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233609 ms (missed cycles : 2).[0m +113.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665358 ms (missed cycles : 3).[0m +114.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633203 ms (missed cycles : 6).[0m +115.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082045 ms (missed cycles : 2).[0m +116.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570618 ms (missed cycles : 3).[0m +117.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.749893 ms (missed cycles : 6).[0m +118.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273960 ms (missed cycles : 4).[0m +119.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849697 ms (missed cycles : 2).[0m +120.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472877 ms (missed cycles : 4).[0m +121.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752521 ms (missed cycles : 3).[0m +123.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741834 ms (missed cycles : 3).[0m +124.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829030 ms (missed cycles : 4).[0m +125.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462620 ms (missed cycles : 2).[0m +126.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823178 ms (missed cycles : 2).[0m +127.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864056 ms (missed cycles : 2).[0m +128.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026920 ms (missed cycles : 2).[0m +129.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022659 ms (missed cycles : 5).[0m +129.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785411595.76366568 seconds +130.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785411596.33335638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +130.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312836 ms (missed cycles : 4).[0m +130.54sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +130.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +131.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001279 ms (missed cycles : 2).[0m +132.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176077 ms (missed cycles : 2).[0m +133.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596362 ms (missed cycles : 5).[0m +134.29sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785411600.40349770 seconds +134.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567967 ms (missed cycles : 4).[0m +135.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339388 ms (missed cycles : 2).[0m +135.84sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785411601.94852972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +136.13sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). +136.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456907 ms (missed cycles : 5).[0m +137.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +137.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021853 ms (missed cycles : 4).[0m +138.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213487 ms (missed cycles : 4).[0m +139.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571675 ms (missed cycles : 3).[0m +140.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835673 ms (missed cycles : 4).[0m +141.41sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m +142.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638748 ms (missed cycles : 4).[0m +143.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492012 ms (missed cycles : 3).[0m +144.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751640 ms (missed cycles : 5).[0m +145.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704843 ms (missed cycles : 2).[0m +146.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863015 ms (missed cycles : 3).[0m +147.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675362 ms (missed cycles : 5).[0m +148.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648775 ms (missed cycles : 4).[0m +149.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335820 ms (missed cycles : 3).[0m +150.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595801 ms (missed cycles : 6).[0m +151.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911898 ms (missed cycles : 2).[0m +152.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862250 ms (missed cycles : 2).[0m +153.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011794 ms (missed cycles : 6).[0m +154.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829687 ms (missed cycles : 3).[0m +155.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811714 ms (missed cycles : 5).[0m +156.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.115758 ms (missed cycles : 5).[0m +157.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667727 ms (missed cycles : 3).[0m +158.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198022 ms (missed cycles : 3).[0m +160.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295975 ms (missed cycles : 4).[0m +161.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651885 ms (missed cycles : 3).[0m +162.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337267 ms (missed cycles : 4).[0m +163.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581746 ms (missed cycles : 2).[0m +164.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936147 ms (missed cycles : 2).[0m +165.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027465 ms (missed cycles : 2).[0m +165.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785411631.97867560 seconds +166.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.688557 ms (missed cycles : 9).[0m +166.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785411632.53090239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +166.71sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 +167.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372428 ms (missed cycles : 3).[0m +167.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +168.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487675 ms (missed cycles : 2).[0m +169.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321963 ms (missed cycles : 4).[0m +170.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280808 ms (missed cycles : 2).[0m +171.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595796 ms (missed cycles : 4).[0m +172.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162069 ms (missed cycles : 2).[0m +173.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208614 ms (missed cycles : 5).[0m +174.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072008 ms (missed cycles : 5).[0m +175.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457362 ms (missed cycles : 2).[0m +176.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003404 ms (missed cycles : 3).[0m +177.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912514 ms (missed cycles : 2).[0m +178.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062614 ms (missed cycles : 2).[0m +179.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360115 ms (missed cycles : 4).[0m +180.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577552 ms (missed cycles : 2).[0m +181.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.502334 ms (missed cycles : 6).[0m +182.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332277 ms (missed cycles : 2).[0m +184.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704589 ms (missed cycles : 6).[0m +185.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780215 ms (missed cycles : 2).[0m +186.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459322 ms (missed cycles : 4).[0m +187.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443954 ms (missed cycles : 4).[0m +188.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836171 ms (missed cycles : 5).[0m +189.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812359 ms (missed cycles : 2).[0m +190.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950960 ms (missed cycles : 5).[0m +191.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359765 ms (missed cycles : 2).[0m +192.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799417 ms (missed cycles : 3).[0m +193.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746737 ms (missed cycles : 3).[0m +194.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829025 ms (missed cycles : 2).[0m +195.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007304 ms (missed cycles : 4).[0m +196.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274288 ms (missed cycles : 2).[0m +197.22sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +197.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798773 ms (missed cycles : 5).[0m +197.87sINFOobjective_server_nodePlanning for 57 path waypoints. +198.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062608 ms (missed cycles : 4).[0m +199.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101869 ms (missed cycles : 3).[0m +200.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054964 ms (missed cycles : 4).[0m +201.41sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m +201.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301400 ms (missed cycles : 2).[0m +202.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.829417 ms (missed cycles : 6).[0m +203.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724491 ms (missed cycles : 3).[0m +204.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.600583 ms (missed cycles : 5).[0m +205.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703558 ms (missed cycles : 2).[0m +206.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772963 ms (missed cycles : 3).[0m +208.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040181 ms (missed cycles : 5).[0m +209.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740824 ms (missed cycles : 3).[0m +210.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334030 ms (missed cycles : 7).[0m +211.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777961 ms (missed cycles : 4).[0m +212.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392496 ms (missed cycles : 4).[0m +213.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870657 ms (missed cycles : 3).[0m +214.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139657 ms (missed cycles : 2).[0m +215.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016222 ms (missed cycles : 4).[0m +216.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559445 ms (missed cycles : 3).[0m +217.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300360 ms (missed cycles : 2).[0m +218.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488788 ms (missed cycles : 2).[0m +219.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947733 ms (missed cycles : 3).[0m +220.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063992 ms (missed cycles : 4).[0m +221.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776283 ms (missed cycles : 3).[0m +222.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787374 ms (missed cycles : 3).[0m +223.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410714 ms (missed cycles : 4).[0m +224.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828615 ms (missed cycles : 3).[0m +225.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976220 ms (missed cycles : 2).[0m +226.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339087 ms (missed cycles : 3).[0m +227.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990586 ms (missed cycles : 3).[0m +228.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935179 ms (missed cycles : 2).[0m +229.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031443 ms (missed cycles : 5).[0m +231.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605522 ms (missed cycles : 5).[0m +232.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125908 ms (missed cycles : 5).[0m +233.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271868 ms (missed cycles : 2).[0m +234.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132998 ms (missed cycles : 2).[0m +235.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889858 ms (missed cycles : 3).[0m +236.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709689 ms (missed cycles : 3).[0m +237.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707810 ms (missed cycles : 3).[0m +238.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874878 ms (missed cycles : 3).[0m +239.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672168 ms (missed cycles : 2).[0m +240.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232661 ms (missed cycles : 3).[0m +241.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791502 ms (missed cycles : 2).[0m +242.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561688 ms (missed cycles : 3).[0m +243.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365378 ms (missed cycles : 3).[0m +244.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447801 ms (missed cycles : 3).[0m +245.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262530 ms (missed cycles : 2).[0m +246.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294582 ms (missed cycles : 2).[0m +247.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539175 ms (missed cycles : 3).[0m +249.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875277 ms (missed cycles : 2).[0m +250.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306167 ms (missed cycles : 4).[0m +251.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982885 ms (missed cycles : 5).[0m +252.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787874 ms (missed cycles : 2).[0m +253.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292795 ms (missed cycles : 4).[0m +254.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734545 ms (missed cycles : 2).[0m +255.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429881 ms (missed cycles : 6).[0m +256.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039548 ms (missed cycles : 5).[0m +257.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138680 ms (missed cycles : 2).[0m +258.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861723 ms (missed cycles : 2).[0m +259.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810434 ms (missed cycles : 3).[0m +260.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368401 ms (missed cycles : 4).[0m +261.42sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 +261.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813300 ms (missed cycles : 5).[0m +262.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089992 ms (missed cycles : 2).[0m +263.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676936 ms (missed cycles : 2).[0m +264.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233733 ms (missed cycles : 3).[0m +265.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842829 ms (missed cycles : 3).[0m +266.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774073 ms (missed cycles : 2).[0m +268.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628209 ms (missed cycles : 4).[0m +269.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345550 ms (missed cycles : 4).[0m +270.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474114 ms (missed cycles : 5).[0m +271.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623253 ms (missed cycles : 2).[0m +272.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677656 ms (missed cycles : 2).[0m +273.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898961 ms (missed cycles : 2).[0m +274.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235537 ms (missed cycles : 2).[0m +275.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542943 ms (missed cycles : 3).[0m +276.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409060 ms (missed cycles : 4).[0m +277.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620275 ms (missed cycles : 5).[0m +278.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028467 ms (missed cycles : 4).[0m +279.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760163 ms (missed cycles : 3).[0m +280.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713071 ms (missed cycles : 5).[0m +281.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302210 ms (missed cycles : 2).[0m +282.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646777 ms (missed cycles : 4).[0m +283.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759833 ms (missed cycles : 3).[0m +284.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172467 ms (missed cycles : 4).[0m +285.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615193 ms (missed cycles : 2).[0m +286.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798359 ms (missed cycles : 2).[0m +287.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985487 ms (missed cycles : 5).[0m +288.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868900 ms (missed cycles : 5).[0m +289.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264191 ms (missed cycles : 2).[0m +290.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001556 ms (missed cycles : 3).[0m +291.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285492 ms (missed cycles : 2).[0m +293.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345627 ms (missed cycles : 4).[0m +294.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202953 ms (missed cycles : 3).[0m +295.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794310 ms (missed cycles : 3).[0m +296.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626218 ms (missed cycles : 3).[0m +297.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102837 ms (missed cycles : 4).[0m +298.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453240 ms (missed cycles : 2).[0m +299.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778160 ms (missed cycles : 2).[0m +300.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360321 ms (missed cycles : 3).[0m +301.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.850393 ms (missed cycles : 5).[0m +302.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229598 ms (missed cycles : 5).[0m +303.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177746 ms (missed cycles : 2).[0m +304.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030746 ms (missed cycles : 4).[0m +305.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249102 ms (missed cycles : 2).[0m +306.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855323 ms (missed cycles : 3).[0m +307.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369760 ms (missed cycles : 2).[0m +308.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579495 ms (missed cycles : 4).[0m +309.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006310 ms (missed cycles : 2).[0m +310.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633980 ms (missed cycles : 2).[0m +311.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975578 ms (missed cycles : 2).[0m +312.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479466 ms (missed cycles : 2).[0m +313.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823305 ms (missed cycles : 3).[0m +314.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603918 ms (missed cycles : 4).[0m +316.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043524 ms (missed cycles : 2).[0m +317.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720141 ms (missed cycles : 3).[0m +318.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026250 ms (missed cycles : 4).[0m +319.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323577 ms (missed cycles : 2).[0m +320.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268897 ms (missed cycles : 4).[0m +321.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724713 ms (missed cycles : 2).[0m +321.42sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +322.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817251 ms (missed cycles : 2).[0m +323.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768964 ms (missed cycles : 2).[0m +324.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243061 ms (missed cycles : 5).[0m +325.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997262 ms (missed cycles : 4).[0m +326.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349445 ms (missed cycles : 2).[0m +327.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969918 ms (missed cycles : 2).[0m +328.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482283 ms (missed cycles : 2).[0m +329.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917060 ms (missed cycles : 3).[0m +330.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155630 ms (missed cycles : 2).[0m +331.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398158 ms (missed cycles : 4).[0m +332.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897925 ms (missed cycles : 2).[0m +333.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904389 ms (missed cycles : 5).[0m +334.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533161 ms (missed cycles : 3).[0m +336.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059518 ms (missed cycles : 4).[0m +337.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712466 ms (missed cycles : 3).[0m +338.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312948 ms (missed cycles : 2).[0m +339.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428032 ms (missed cycles : 5).[0m +340.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818628 ms (missed cycles : 3).[0m +341.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361084 ms (missed cycles : 3).[0m +342.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831499 ms (missed cycles : 3).[0m +343.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808380 ms (missed cycles : 3).[0m +344.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829103 ms (missed cycles : 5).[0m +345.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106530 ms (missed cycles : 2).[0m +346.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405455 ms (missed cycles : 4).[0m +347.01sINFOobjective_server_nodeObjective preemption by a new Objective goal requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +347.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 +347.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +347.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled via preemption by a new Objective goal: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785411813.15513492 seconds +347.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785411813.18287420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +347.37sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). +347.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439422 ms (missed cycles : 3).[0m +348.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423787 ms (missed cycles : 3).[0m +349.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +349.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740611 ms (missed cycles : 5).[0m +350.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531159 ms (missed cycles : 2).[0m +352.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119976 ms (missed cycles : 3).[0m +353.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112277 ms (missed cycles : 2).[0m +354.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239456 ms (missed cycles : 2).[0m +355.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817616 ms (missed cycles : 5).[0m +356.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801723 ms (missed cycles : 3).[0m +357.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +357.19sERRORobjective_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: 1785411823.30088210 seconds +357.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093388 ms (missed cycles : 2).[0m +357.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785411823.84289122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +358.03sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +358.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870854 ms (missed cycles : 4).[0m +359.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +359.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134973 ms (missed cycles : 2).[0m +360.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797082 ms (missed cycles : 3).[0m +361.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.472926 ms (missed cycles : 6).[0m +362.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092436 ms (missed cycles : 5).[0m +363.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772698 ms (missed cycles : 3).[0m +364.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763176 ms (missed cycles : 2).[0m +365.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680810 ms (missed cycles : 5).[0m +366.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960024 ms (missed cycles : 2).[0m +367.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322840 ms (missed cycles : 3).[0m +368.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843363 ms (missed cycles : 5).[0m +369.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835087 ms (missed cycles : 3).[0m +370.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023711 ms (missed cycles : 2).[0m +371.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783876 ms (missed cycles : 3).[0m +372.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184618 ms (missed cycles : 4).[0m +373.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652579 ms (missed cycles : 4).[0m +374.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404622 ms (missed cycles : 3).[0m +375.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259743 ms (missed cycles : 2).[0m +377.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342479 ms (missed cycles : 2).[0m +378.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.449816 ms (missed cycles : 7).[0m +379.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762380 ms (missed cycles : 3).[0m +380.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671871 ms (missed cycles : 5).[0m +381.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625732 ms (missed cycles : 2).[0m +382.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746524 ms (missed cycles : 2).[0m +383.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778431 ms (missed cycles : 3).[0m +384.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291604 ms (missed cycles : 2).[0m +385.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800440 ms (missed cycles : 2).[0m +386.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378786 ms (missed cycles : 3).[0m +387.43sINFOobjective_server_nodePlanning for 34 path waypoints. +387.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661484 ms (missed cycles : 5).[0m +388.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143068 ms (missed cycles : 2).[0m +389.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835040 ms (missed cycles : 3).[0m +390.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456551 ms (missed cycles : 4).[0m +391.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417283 ms (missed cycles : 2).[0m +392.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746216 ms (missed cycles : 2).[0m +393.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.117151 ms (missed cycles : 7).[0m +394.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030126 ms (missed cycles : 5).[0m +396.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145263 ms (missed cycles : 2).[0m +397.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638877 ms (missed cycles : 2).[0m +398.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700334 ms (missed cycles : 2).[0m +399.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133233 ms (missed cycles : 2).[0m +400.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242990 ms (missed cycles : 5).[0m +401.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746174 ms (missed cycles : 3).[0m +402.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997201 ms (missed cycles : 2).[0m +403.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161419 ms (missed cycles : 4).[0m +403.83sINFOobjective_server_nodePlanning for 33 path waypoints. +404.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658839 ms (missed cycles : 2).[0m +405.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269016 ms (missed cycles : 2).[0m +406.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804485 ms (missed cycles : 3).[0m +407.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688978 ms (missed cycles : 3).[0m +408.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389033 ms (missed cycles : 4).[0m +409.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103599 ms (missed cycles : 5).[0m +410.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798355 ms (missed cycles : 3).[0m +411.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258854 ms (missed cycles : 6).[0m +412.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340064 ms (missed cycles : 3).[0m +413.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776921 ms (missed cycles : 4).[0m +414.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820863 ms (missed cycles : 2).[0m +415.00sINFOobjective_server_nodePlanning for 31 path waypoints. +415.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363766 ms (missed cycles : 4).[0m +416.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781801 ms (missed cycles : 3).[0m +417.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135950 ms (missed cycles : 5).[0m +418.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126851 ms (missed cycles : 5).[0m +419.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925109 ms (missed cycles : 3).[0m +421.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880891 ms (missed cycles : 2).[0m +422.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784531 ms (missed cycles : 3).[0m +423.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283667 ms (missed cycles : 2).[0m +424.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310659 ms (missed cycles : 2).[0m +425.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139977 ms (missed cycles : 5).[0m +426.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863309 ms (missed cycles : 3).[0m +427.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583892 ms (missed cycles : 2).[0m +427.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785411893.86303854 seconds +428.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785411894.41424322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +428.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619870 ms (missed cycles : 6).[0m +429.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387026 ms (missed cycles : 3).[0m +430.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982680 ms (missed cycles : 4).[0m +431.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317312 ms (missed cycles : 4).[0m +432.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191251 ms (missed cycles : 2).[0m +432.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785411898.62440920 seconds +433.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785411899.17437696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +433.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). +433.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688610 ms (missed cycles : 2).[0m +434.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282234 ms (missed cycles : 2).[0m +435.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897740 ms (missed cycles : 3).[0m +436.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800507 ms (missed cycles : 3).[0m +437.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886634 ms (missed cycles : 3).[0m +438.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442794 ms (missed cycles : 2).[0m +439.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362300 ms (missed cycles : 2).[0m +440.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180318 ms (missed cycles : 4).[0m +441.43sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m +441.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503059 ms (missed cycles : 2).[0m +442.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694293 ms (missed cycles : 2).[0m +444.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863287 ms (missed cycles : 5).[0m +445.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691689 ms (missed cycles : 2).[0m +446.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004380 ms (missed cycles : 5).[0m +447.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912936 ms (missed cycles : 2).[0m +448.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.338881 ms (missed cycles : 4).[0m +449.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639287 ms (missed cycles : 2).[0m +450.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990783 ms (missed cycles : 2).[0m +451.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541774 ms (missed cycles : 6).[0m +452.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024115 ms (missed cycles : 2).[0m +453.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692801 ms (missed cycles : 5).[0m +454.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361065 ms (missed cycles : 2).[0m +455.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458284 ms (missed cycles : 2).[0m +456.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204351 ms (missed cycles : 2).[0m +457.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717308 ms (missed cycles : 4).[0m +458.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002771 ms (missed cycles : 2).[0m +459.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165939 ms (missed cycles : 2).[0m +460.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208260 ms (missed cycles : 2).[0m +461.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811319 ms (missed cycles : 2).[0m +462.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754025 ms (missed cycles : 2).[0m +463.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444087 ms (missed cycles : 4).[0m +464.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886617 ms (missed cycles : 2).[0m +465.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574116 ms (missed cycles : 4).[0m +466.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114420 ms (missed cycles : 2).[0m +467.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932506 ms (missed cycles : 3).[0m +468.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036059 ms (missed cycles : 6).[0m +469.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976649 ms (missed cycles : 2).[0m +471.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109528 ms (missed cycles : 5).[0m +472.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828201 ms (missed cycles : 3).[0m +473.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372685 ms (missed cycles : 5).[0m +474.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966047 ms (missed cycles : 2).[0m +475.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628065 ms (missed cycles : 4).[0m +476.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841894 ms (missed cycles : 3).[0m +477.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859816 ms (missed cycles : 3).[0m +478.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793386 ms (missed cycles : 3).[0m +479.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761109 ms (missed cycles : 3).[0m +480.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178839 ms (missed cycles : 4).[0m +481.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153022 ms (missed cycles : 3).[0m +482.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735072 ms (missed cycles : 2).[0m +483.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254156 ms (missed cycles : 5).[0m +484.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119144 ms (missed cycles : 2).[0m +485.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868977 ms (missed cycles : 2).[0m +486.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967794 ms (missed cycles : 2).[0m +487.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127319 ms (missed cycles : 3).[0m +488.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686718 ms (missed cycles : 4).[0m +488.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785411954.96450877 seconds +489.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785411955.52013731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +489.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119757 ms (missed cycles : 5).[0m +490.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435560 ms (missed cycles : 2).[0m +492.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721689 ms (missed cycles : 2).[0m +493.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062019 ms (missed cycles : 2).[0m +493.90sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +493.93sINFOobjective_server_nodePath shortcutter: [X__________________X] +493.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 +493.98sINFOobjective_server_nodePath shortcutter: [X____________________X] +494.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). +494.05sINFOobjective_server_nodePath shortcutter: [X_________________________X] +494.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.531674 ms (missed cycles : 6).[0m +494.19sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +494.23sINFOobjective_server_nodeFound path in 0 iterations (1.02e-06 s). +494.42sINFOobjective_server_nodeFound path in 29 iterations (0.0233692 s). +494.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] +494.64sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +494.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +494.97sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). +495.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025899 ms (missed cycles : 4).[0m +495.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +495.46sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +496.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043459 ms (missed cycles : 4).[0m +497.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697765 ms (missed cycles : 2).[0m +498.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656927 ms (missed cycles : 2).[0m +499.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227299 ms (missed cycles : 2).[0m +500.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102499 ms (missed cycles : 2).[0m +501.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046395 ms (missed cycles : 4).[0m +501.43sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m +501.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785411967.57149148 seconds +502.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785411968.16015887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +502.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432885 ms (missed cycles : 5).[0m +502.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411968.65030479 seconds +503.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411969.19180322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +503.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927199 ms (missed cycles : 2).[0m +503.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411969.54197288 seconds +503.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +504.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967299 ms (missed cycles : 2).[0m +505.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527134 ms (missed cycles : 4).[0m +506.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301792 ms (missed cycles : 2).[0m +507.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966329 ms (missed cycles : 3).[0m +508.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234508 ms (missed cycles : 2).[0m +508.93sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.93sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] +508.94sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.94sERRORweb_video_auth_proxy-34process has died [pid 9407, 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']. +508.95sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.95sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.95sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.95sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.96sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.96sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.97sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.97sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.97sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.98sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.98sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.98sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.99sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.99sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +508.99sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +509.00sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +509.00sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +509.00sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +509.01sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +509.01sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +509.02sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] +509.03sERRORweb_bridge_auth_proxy-33process has died [pid 9406, 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']. +509.03sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] +509.05sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] +509.07sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] +509.09sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] +509.11sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] +509.13sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +509.14sINFOvideo_server-32process has finished cleanly [pid 9405] +509.15sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] +509.17sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] +509.19sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] +509.21sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] +509.23sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] +509.25sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] +509.27sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] +509.30sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] +509.32sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +509.32sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9404] +509.33sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +509.34sERRORmove_group-20process has died [pid 9373, 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_cckgeguj --params-file /tmp/launch_params_89cy7h_9 --params-file /tmp/launch_params_cmes7abz --params-file /tmp/launch_params_5_1gd5re --params-file /tmp/launch_params_roy_3rjw --params-file /tmp/launch_params_vf_ob_gi']. +509.35sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +509.37sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +509.39sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +509.41sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +509.41sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system +509.41sINFOvideo_server2026/07/30 11:46:15 INF shutting down gracefully +509.41sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +509.41sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +509.41sINFOvideo_server2026/07/30 11:46:15 INF [WebRTC] closing +509.41sINFOvideo_server2026/07/30 11:46:15 INF [RTSP] closing +509.41sINFOvideo_server2026/07/30 11:46:15 INF waiting for running hooks +509.41sERRORui_teleop_bridgeTraceback (most recent call last): +509.41sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +509.41sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +509.41sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +509.41sINFOui_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 +509.41sINFOui_teleop_bridgerclpy.shutdown() +509.41sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +509.41sINFOui_teleop_bridge_shutdown(context=context) +509.41sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +509.41sINFOui_teleop_bridgecontext.shutdown() +509.41sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +509.41sINFOui_teleop_bridgeself.__context.shutdown() +509.41sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +509.42sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +509.42sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +509.42sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +509.42sINFOcomponent_container_mtStopping planning scene monitor[0m +509.42sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +509.42sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +509.42sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +509.42sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +509.42sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +509.42sERRORmove_groupwhat(): context cannot be slept with because it's invalid +509.42sERRORmove_groupStack trace (most recent call last) in thread 9983: +509.42sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +509.42sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2728b7a63, in __clone +509.42sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff27282aaa3, in +509.42sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff272abcdb3, in +509.42sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff2731ffed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +509.42sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff272e2f4d0, in rclcpp::Rate::sleep() +509.42sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff272d82a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +509.42sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff272d47a71, in +509.42sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff272a8b390, in __cxa_throw +509.42sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff272a75a54, in std::terminate() +509.42sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff272a8b0d9, in +509.42sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff272a75ff4, in +509.42sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2727b68fe, in abort +509.42sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2727d327d, in raise +509.42sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff27282cb2c, in pthread_kill +509.42sERRORmove_groupAborted (Signal sent by tkill() 9373 0) +509.42sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +509.42sINFOros2_control_nodeShutdown request received....[0m +509.42sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +509.42sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +509.42sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +509.42sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +509.42sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +509.42sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +509.42sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +509.42sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +509.42sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +509.42sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +509.42sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +509.42sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +509.42sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +509.42sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +509.42sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +509.42sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +509.42sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +509.42sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +509.42sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +509.42sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +509.42sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +509.42sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +509.42sINFOros2_control_nodeShutting down the controller manager.[0m +509.42sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system +509.43sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +509.43sINFOobjective_server_node[2026-07-30 11:46:15.454] [moveit_pro_license] [info] +509.43sINFOobjective_server_node* Application has successfully terminated +509.43sERRORodom_qos_relay.pyTraceback (most recent call last): +509.43sINFOodom_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> +509.43sINFOodom_qos_relay.pymain() +509.43sINFOodom_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 +509.43sINFOodom_qos_relay.pyrclpy.spin(node) +509.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +509.43sINFOodom_qos_relay.pyexecutor.spin_once() +509.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +509.43sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +509.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +509.43sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +509.43sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +509.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +509.43sINFOodom_qos_relay.pyreturn next(self._cb_iter) +509.43sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +509.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +509.43sINFOodom_qos_relay.pyraise ExternalShutdownException() +509.43sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +509.43sERRORobjective_server_nodeStack trace (most recent call last): +509.43sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +509.43sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +509.43sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555acb9986a4, in _start +509.43sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f915189628a, in __libc_start_main +509.43sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91518961d0, in +509.43sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91518b3bbd, in exit +509.43sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91518b3a75, in +509.43sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f9151d828f5, in spdlog::details::registry::~registry() +509.43sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555acb998d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +509.43sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555acb99f315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +509.43sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555acb99e5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +509.43sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555acb99ab7b, in spdlog_ros::RosSink::~RosSink() +509.43sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555acb998d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +509.43sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f915243c454, in rclcpp::Node::~Node() +509.43sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91523f7515, in +509.43sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f915243ad20, in +509.43sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f915243ac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +509.43sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91523f75d9, in +509.43sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91523fc161, in rclcpp::CallbackGroup::~CallbackGroup() +509.43sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f910c8d4030]) +509.44sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +509.45sERRORobjective_server_node_main-25process has died [pid 9398, 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_g4pj0gtp --params-file /tmp/launch_params_bvsisngw --params-file /tmp/launch_params_ibkjv1g3 --params-file /tmp/launch_params_xulzmdr2 --params-file /tmp/launch_params_6opge65s --params-file /tmp/launch_params_49bipn95 --params-file /tmp/launch_params_rbgy8tnx --params-file /tmp/launch_params_bfea978o --params-file /tmp/launch_params_lrs5vpdp']. +509.45sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system +509.51sINFOros2_control_nodeAsync messages lost 0[0m ×2 +509.51sINFOros2_control_nodepublish_async_failures_ 3[0m +509.51sINFOros2_control_nodepublish_async_failures_ 4[0m +509.64sERRORcomponent_container_isolated-2process has died [pid 9278, 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_9bv3dxun --params-file /tmp/launch_params__m0qwvi7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +510.21sINFOexecute_objective_bridge-28process has finished cleanly [pid 9401] +510.22sERRORui_teleop_bridge-29process has died [pid 9402, 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_qlyfucfv']. +510.24sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9397] +510.24sINFOcomponent_container_mt-27process has finished cleanly [pid 9400] +510.26sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9376] +510.31sINFOparameter_manager_node-21process has finished cleanly [pid 9374] +510.31sINFOwaypoint_manager_node-22process has finished cleanly [pid 9375] +510.35sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9283] +510.38sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9282] +510.41sINFOstatic_transform_publisher-4process has finished cleanly [pid 9280] +510.43sINFOstatic_transform_publisher-3process has finished cleanly [pid 9279] +510.44sERRORodom_qos_relay.py-5process has died [pid 9281, 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']. +511.36sINFOcomponent_container_mt-26process has finished cleanly [pid 9399] +511.75sINFOweb_bridge-30process has finished cleanly [pid 9403] +511.75sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system +512.05sINFOros2_control_node-8process has finished cleanly [pid 9284] +518.61sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-07-30-11-46-22-224598-417a4b347bb9-10332 ×2 +527.21sINFOstatic_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' +527.21sINFOstatic_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' +527.28sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +527.33sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +527.33sINFOcontroller_managerupdate rate is 600 Hz +527.33sINFOcontroller_managerOverruns handling is : enabled +527.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +527.33sWARNcontroller_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. +527.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285950 ms (missed cycles : 2). +527.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +527.45sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +527.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +527.47sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +527.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +527.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +527.50sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +527.52sINFOcontroller_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. +527.54sINFOros2_control_node-8process started with pid [10389] ×2 +527.54sINFOmove_group-20process started with pid [10478] ×2 +527.54sINFOparameter_manager_node-21process started with pid [10479] ×2 +527.54sINFOwaypoint_manager_node-22process started with pid [10480] ×2 +527.54sINFOmove_joint_resampler_node-23process started with pid [10481] ×2 +527.54sINFOmove_end_effector_resampler_node-24process started with pid [10502] ×2 +527.54sINFOobjective_server_node_main-25process started with pid [10503] ×2 +527.54sINFOcomponent_container_mt-26process started with pid [10504] ×2 +527.54sINFOcomponent_container_mt-27process started with pid [10505] ×2 +527.54sINFOexecute_objective_bridge-28process started with pid [10506] ×2 +527.54sINFOui_teleop_bridge-29process started with pid [10507] ×2 +527.54sINFOweb_bridge-30process started with pid [10508] ×2 +527.54sINFOtf2_web_republisher_node-31process started with pid [10509] ×2 +527.55sINFOvideo_server-32process started with pid [10510] ×2 +527.55sINFOweb_bridge_auth_proxy-33process started with pid [10511] ×2 +527.55sINFOweb_video_auth_proxy-34process started with pid [10533] ×2 +527.55sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +527.56sINFOcomponent_container_isolated-1process started with pid [10382] ×2 +527.57sINFOcomponent_container_isolated-2process started with pid [10383] ×2 +527.57sINFOstatic_transform_publisher-3process started with pid [10384] ×2 +527.57sINFOstatic_transform_publisher-4process started with pid [10385] ×2 +527.57sINFOodom_qos_relay.py-5process started with pid [10386] ×2 +527.57sINFOscan_to_scan_filter_chain-6process started with pid [10387] ×2 +527.57sINFOscan_to_scan_filter_chain-7process started with pid [10388] ×2 +527.57sINFOros2-9process started with pid [10467] ×2 +527.57sINFOros2-10process started with pid [10468] ×2 +527.57sINFOros2-11process started with pid [10469] ×2 +527.57sINFOros2-12process started with pid [10470] ×2 +527.57sINFOros2-13process started with pid [10471] ×2 +527.57sINFOros2-14process started with pid [10472] ×2 +527.57sINFOros2-15process started with pid [10473] ×2 +527.57sINFOros2-16process started with pid [10474] ×2 +527.57sINFOros2-17process started with pid [10475] ×2 +527.57sINFOros2-18process started with pid [10476] ×2 +527.57sINFOros2-19process started with pid [10477] ×2 +527.61sINFOcontroller_serverCreating controller server +527.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +527.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +527.62sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +527.62sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +527.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285950 ms (missed cycles : 2).[0m ×2 +527.67sINFOlocal_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. +527.68sINFOlocal_costmap.local_costmapCreating Costmap +527.69sINFOmap_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. +527.69sINFOmap_serverCreating +527.69sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +527.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +527.70sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +527.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +527.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +527.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +527.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +527.73sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +527.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +527.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +527.76sINFOsmoother_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. +527.78sINFOsmoother_serverCreating smoother server +527.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +527.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +527.79sINFOrobot_state_publisherRobot initialized +527.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +527.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +527.79sINFOcontroller_managerReceived robot description from topic. +527.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +527.80sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +527.80sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +527.82sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +527.84sINFOlifecycle_manager_localizationCreating +527.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +527.85sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +527.86sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +527.86sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +527.86sINFOmap_serverConfiguring +527.86sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +527.86sINFOplanner_serverCreating +527.89sINFOglobal_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. +527.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +527.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +527.90sINFOglobal_costmap.global_costmapCreating Costmap +527.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +527.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +527.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +527.94sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +527.94sINFOamclConfiguring +527.94sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +527.94sINFOmap_serverActivating +527.95sINFOmap_serverCreating bond (map_server) to lifecycle manager. +527.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +527.96sINFObehavior_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. +527.98sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.380453 seconds +527.98sINFOmove_groupLoaded robot model in 0.380453 seconds[0m ×2 +527.98sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +527.98sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +528.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +528.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +528.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +528.06sINFObt_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. +528.06sINFOlifecycle_manager_localizationServer map_server connected with bond. +528.06sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +528.06sINFOamclActivating +528.06sINFOamclSubscribed to initial_pose_topic: /initialpose +528.07sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +528.08sINFOamclSubscribed to map_topic: /map +528.08sINFOamclSubscribed to scan_topic: /scan_merged +528.08sINFOamclCreated reinitialize_global_localization service +528.08sINFOamclCreated request_nomotion_update service +528.09sINFOamclA new map was received +528.09sINFOamclInitializing particle filter instance +528.09sINFObt_navigatorCreating +528.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +528.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +528.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +528.13sINFOvideo_server2026/07/30 11:46:34 INF MediaMTX v1.19.3, linux, amd64 ×2 +528.13sINFOvideo_server2026/07/30 11:46:34 INF configuration loaded from /tmp/moveit-webrtc-28v4avol/mediamtx.yml ×2 +528.13sINFOvideo_server2026/07/30 11:46:34 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 +528.13sINFOvideo_server2026/07/30 11:46:34 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +528.14sINFOwaypoint_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. +528.15sINFOwaypoint_followerCreating +528.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +528.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +528.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +528.19sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +528.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +528.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +528.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +528.21sWARNlaser_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. +528.21sWARNlaser_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. +528.24sINFOlifecycle_manager_navigationCreating +528.26sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +528.29sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +528.29sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +528.30sINFOcontroller_serverConfiguring controller interface +528.30sINFOcontroller_servergetting progress checker plugins.. +528.30sINFOcontroller_servergetting goal checker plugins.. +528.30sINFOcontroller_serverController frequency set to 20.0000Hz +528.30sINFOlocal_costmap.local_costmapConfiguring +528.31sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +528.33sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +528.39sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +528.39sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +528.40sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +528.44sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +528.44sINFOcontroller_serverController Server has progress_checker progress checkers available. +528.45sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +528.46sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +528.46sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +528.47sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +528.47sINFOamclParticle filter initialization completed +528.47sINFOamclInitializing particles from estimated pose and covariance +528.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +528.49sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +528.49sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +528.49sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +528.49sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +528.49sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +528.49sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +528.49sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +528.49sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +528.50sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +528.50sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +528.51sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +528.51sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +528.51sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +528.52sINFOwaypoint_manager_nodeLoaded robot model in 0.332588 seconds[0m ×2 +528.52sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +528.52sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +528.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371574 ms (missed cycles : 2). +528.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371574 ms (missed cycles : 2).[0m ×2 +528.52sINFOcontroller_serverOptimizer reset +528.54sINFOcontroller_serverController Server has FollowPath controllers available. +528.56sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +528.56sINFOsmoother_serverConfiguring smoother server +528.58sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +528.58sWARNmove_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. +528.58sINFOlifecycle_manager_localizationServer amcl connected with bond. +528.58sWARNmove_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. +528.58sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +528.58sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +528.58sWARNmove_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. +528.58sINFOamclThe bond connection to the lifecycle manager is now fully formed +528.58sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +528.58sWARNmove_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. +528.58sWARNmove_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. +528.58sWARNmove_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. +528.58sWARNmove_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. +528.59sWARNmove_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. +528.59sWARNmove_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. +528.59sWARNmove_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. +528.59sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +528.62sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +528.62sINFOplanner_serverConfiguring +528.62sINFOglobal_costmap.global_costmapConfiguring +528.63sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +528.65sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +528.65sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +528.65sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +528.65sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +528.69sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +528.69sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +528.69sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +528.73sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +528.73sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +528.74sINFOplanner_serverPlanner Server has GridBased planners available. +528.76sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +528.77sINFObehavior_serverConfiguring +528.77sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +528.77sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +528.77sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +528.78sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +528.79sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +528.80sINFObehavior_serverConfiguring spin +528.83sINFObehavior_serverConfiguring backup +528.84sINFObehavior_serverConfiguring drive_on_heading +528.85sINFObehavior_serverConfiguring assisted_teleop +528.87sINFObehavior_serverConfiguring wait +528.89sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +528.89sINFObt_navigatorConfiguring +528.90sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +528.90sWARNbt_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 +528.96sINFOmove_group[2026-07-30 11:46:35.069] [moveit_pro_license] [info] ×2 +528.97sERRORcomponent_container_isolated-1process has died [pid 10382, 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_nx0o7yv5 --params-file /tmp/launch_params_zx0s5lnn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 +529.10sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +529.13sWARNwaypoint_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. +529.13sWARNwaypoint_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. +529.13sWARNwaypoint_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. +529.13sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.14sWARNwaypoint_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. +529.15sWARNwaypoint_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. +529.15sWARNwaypoint_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. +529.15sWARNwaypoint_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. +529.15sWARNwaypoint_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. +529.15sWARNwaypoint_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. +529.15sWARNwaypoint_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. +529.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +529.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +529.15sWARNwaypoint_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. +529.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +529.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +529.16sWARNwaypoint_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. +529.16sWARNwaypoint_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. +529.16sWARNwaypoint_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. +529.16sWARNwaypoint_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. +529.16sWARNwaypoint_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. +529.28sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +529.28sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +529.31sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +529.31sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +529.31sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +529.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +529.32sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +529.32sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +529.32sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +529.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +529.32sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +529.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +529.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +529.48sINFOwaypoint_manager_node[2026-07-30 11:46:35.592] [moveit_pro_license] [info] ×2 +529.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469383 ms (missed cycles : 2). +529.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469383 ms (missed cycles : 2).[0m ×2 +530.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +530.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. +530.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +530.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +530.04sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +530.12sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +530.12sINFOcontroller_managerLoading controller 'velocity_force_controller' +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +530.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +530.17sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +530.19sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +530.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +530.20sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +530.20sINFOstreaming_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) +530.20sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +530.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +530.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +530.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +530.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +530.26sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +530.27sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +530.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +530.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +530.35sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +530.37sINFOstreaming_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) +530.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +530.39sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +530.49sINFOros2_control_node[2026-07-30 11:46:36.604] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +530.50sINFOros2_control_node[2026-07-30 11:46:36.606] [info] Controller state will be published at 10 Hz. ×2 +530.50sINFOros2_control_node[2026-07-30 11:46:36.607] [info] VelocityForceController 'on_configure' succeeded. ×2 +530.52sINFOobjective_server_node[2026-07-30 11:46:36.632] [moveit_pro_license] [info] ×2 +530.58sINFOobjective_server_nodeLoaded robot model in 0.0224866 seconds[0m ×2 +530.69sINFOmove_groupMoveGroup debug mode is ON +530.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987680 ms (missed cycles : 3). +530.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987680 ms (missed cycles : 3).[0m ×2 +530.80sINFOmove_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
********************************************************
+530.87sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +530.87sWARNobjective_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. +531.12sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +531.25sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785411996.239 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +531.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484113 ms (missed cycles : 3). +531.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484113 ms (missed cycles : 3).[0m ×2 +532.47sINFOcomponent_container_mtLoaded robot model in 2.07036 seconds[0m ×2 +532.64sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +532.64sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +532.64sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +532.64sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +532.70sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +532.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +532.70sINFOros2-16process has finished cleanly [pid 10474] ×2 +532.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +532.71sINFOcontroller_managerSuccessfully switched controllers! ×8 +532.71sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +532.75sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.76sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.77sWARNplanning_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. +532.78sWARNplanning_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. +532.78sWARNplanning_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. +532.78sWARNplanning_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. +532.78sWARNplanning_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. +532.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376017 ms (missed cycles : 2). +532.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376017 ms (missed cycles : 2).[0m ×2 +532.95sINFOcomponent_container_mt[2026-07-30 11:46:39.063] [moveit_pro_license] [info] ×2 +533.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +533.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +533.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +533.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +533.06sINFOros2-10process has finished cleanly [pid 10468] ×2 +533.11sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +533.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +533.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +533.11sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +533.11sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +533.13sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +533.14sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +533.36sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 3.251ms +533.44sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +533.44sINFOcontroller_managerLoading controller 'vacuum_gripper' +533.44sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +533.45sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +533.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +533.47sINFOros2-11process has finished cleanly [pid 10469] ×2 +533.50sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +533.50sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +533.50sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +533.51sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +533.51sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +533.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785411998.740 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +533.82sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +533.82sINFOcontroller_managerLoading controller 'platform_velocity_controller' +533.82sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +533.82sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +533.86sINFOros2-13process has finished cleanly [pid 10471] ×2 +533.88sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +533.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +533.89sINFOplatform_velocity_controllerconfigure successful +533.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +533.89sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +533.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828809 ms (missed cycles : 3). +533.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828809 ms (missed cycles : 3).[0m ×2 +534.23sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +534.26sINFOros2-12process has finished cleanly [pid 10470] ×2 +534.49sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +534.49sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +534.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +534.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +534.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +534.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +534.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +534.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +534.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +534.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +534.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +534.94sINFOros2-15process has finished cleanly [pid 10473] ×2 +534.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211543 ms (missed cycles : 2). +534.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211543 ms (missed cycles : 2).[0m ×2 +535.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +535.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +535.01sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +535.01sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +535.06sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +535.06sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +535.07sINFOplatform_velocity_controller_nav2configure successful +535.37sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +535.37sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +535.37sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +535.37sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +535.42sINFOros2-14process has finished cleanly [pid 10472] ×2 +535.44sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +535.45sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +535.71sINFOros2_control_node[2026-07-30 11:46:41.823] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +535.71sINFOros2_control_node[2026-07-30 11:46:41.825] [info] Controller state will be published at 10 Hz. ×2 +535.72sINFOros2_control_node[2026-07-30 11:46:41.825] [info] VelocityForceController 'on_configure' succeeded. ×2 +535.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805237 ms (missed cycles : 2). +535.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805237 ms (missed cycles : 2).[0m ×2 +536.06sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +536.06sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +536.07sINFOros2-17process has finished cleanly [pid 10475] ×2 +536.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +536.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +536.18sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +536.19sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +536.46sINFOros2_control_node[2026-07-30 11:46:42.568] [info] Controller state will be published at 20 Hz. ×2 +536.46sINFOros2_control_node[2026-07-30 11:46:42.570] [info] JointVelocityController 'on_configure' succeeded. ×2 +536.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +536.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' +536.79sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +536.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +536.83sINFOros2-19process has finished cleanly [pid 10477] ×2 +536.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +536.85sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +537.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067612 ms (missed cycles : 4). +537.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067612 ms (missed cycles : 4).[0m ×2 +537.12sINFOros2_control_node[2026-07-30 11:46:43.234] [info] Controller state will be published at 20 Hz. ×2 +537.12sINFOros2_control_node[2026-07-30 11:46:43.235] [info] JointVelocityController 'on_configure' succeeded. ×2 +537.49sINFOros2-18process has finished cleanly [pid 10476] ×2 +537.50sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +537.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +537.50sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 +537.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1thhy1_u --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_s3oh83uv --params-file /tmp/launch_params_yxyfg8_0 [0m ×2 +537.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +537.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +537.58sINFOforce_torque_sensor_broadcasterconfigure successful +537.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +537.59sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +537.90sINFOros2-9process has finished cleanly [pid 10467] ×2 +538.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901215 ms (missed cycles : 4). +538.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901215 ms (missed cycles : 4).[0m ×2 +539.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923013 ms (missed cycles : 3). +539.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923013 ms (missed cycles : 3).[0m ×2 +540.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). +540.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 +541.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). +541.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 +542.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). +542.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 +542.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +542.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +542.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +542.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 +543.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). +543.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 +543.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +543.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 +544.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +544.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 +544.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). +544.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 +544.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +544.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +544.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +544.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +544.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +544.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +544.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +544.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 +545.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +545.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +545.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +545.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +545.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). +545.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.0s | 3 errors · 234 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722952 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722952 ms (missed cycles : 5).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 4.628ms + 0.69sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 4.036ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545639 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545639 ms (missed cycles : 6).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 3.036ms + 1.70sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.411ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771736 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771736 ms (missed cycles : 3).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.554ms + 2.69sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.447ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260836 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260836 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 3.29sINFOobjective_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 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sERRORobjective_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: 1785412213.60461879 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.827ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.392ms + 3.87sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785412214.14641857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 3.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248564 ms (missed cycles : 3). + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248564 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.173ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.109ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.591ms + 5.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746249 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746249 ms (missed cycles : 2).[0m ×2 + 5.33sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.33sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.33sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.631ms + 5.79sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 3.973ms + 6.09sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.879ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526393 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526393 ms (missed cycles : 4).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.180ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156918 ms (missed cycles : 5). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156918 ms (missed cycles : 5).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942810 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942810 ms (missed cycles : 2).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 9.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720177 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720177 ms (missed cycles : 2).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 10.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071574 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071574 ms (missed cycles : 3).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029920 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029920 ms (missed cycles : 2).[0m ×2 + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643780 ms (missed cycles : 4). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643780 ms (missed cycles : 4).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906675 ms (missed cycles : 5). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906675 ms (missed cycles : 5).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 14.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.765ms + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514754 ms (missed cycles : 3). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514754 ms (missed cycles : 3).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119741 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119741 ms (missed cycles : 5).[0m ×2 + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835428 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835428 ms (missed cycles : 2).[0m ×2 + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920137 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920137 ms (missed cycles : 3).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.534933 ms (missed cycles : 7). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.534933 ms (missed cycles : 7).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887012 ms (missed cycles : 3). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887012 ms (missed cycles : 3).[0m ×2 + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108867 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108867 ms (missed cycles : 2).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068132 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068132 ms (missed cycles : 2).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.695ms + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668070 ms (missed cycles : 3). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668070 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566271 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566271 ms (missed cycles : 3).[0m ×2 + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.716ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496067 ms (missed cycles : 4). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496067 ms (missed cycles : 4).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035943 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035943 ms (missed cycles : 2).[0m ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615640 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615640 ms (missed cycles : 2).[0m ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829539 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829539 ms (missed cycles : 2).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.703ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835681 ms (missed cycles : 7). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835681 ms (missed cycles : 7).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938668 ms (missed cycles : 3). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938668 ms (missed cycles : 3).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.525228 ms (missed cycles : 4). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.525228 ms (missed cycles : 4).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845829 ms (missed cycles : 4). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845829 ms (missed cycles : 4).[0m ×2 + 32.62sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.62sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.96sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724012 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724012 ms (missed cycles : 2).[0m ×2 + 33.59sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 33.59sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664146 ms (missed cycles : 3). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664146 ms (missed cycles : 3).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906925 ms (missed cycles : 3). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906925 ms (missed cycles : 3).[0m ×2 + 35.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 35.90sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943981 ms (missed cycles : 3). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943981 ms (missed cycles : 3).[0m ×2 + 36.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 37.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 37.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917241 ms (missed cycles : 3). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917241 ms (missed cycles : 3).[0m ×2 + 37.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 38.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489772 ms (missed cycles : 3). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489772 ms (missed cycles : 3).[0m ×2 + 38.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101492 ms (missed cycles : 4). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101492 ms (missed cycles : 4).[0m ×2 + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026712 ms (missed cycles : 4). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026712 ms (missed cycles : 4).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322936 ms (missed cycles : 5). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322936 ms (missed cycles : 5).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078957 ms (missed cycles : 3). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078957 ms (missed cycles : 3).[0m ×2 + 43.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896786 ms (missed cycles : 3). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896786 ms (missed cycles : 3).[0m ×2 + 43.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms ×2 + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651351 ms (missed cycles : 4). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651351 ms (missed cycles : 4).[0m ×2 + 45.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703903 ms (missed cycles : 2). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703903 ms (missed cycles : 2).[0m ×2 + 46.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765107 ms (missed cycles : 3). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765107 ms (missed cycles : 3).[0m ×2 + 46.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 47.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698287 ms (missed cycles : 4). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698287 ms (missed cycles : 4).[0m ×2 + 48.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169049 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169049 ms (missed cycles : 3).[0m ×2 + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 49.98sINFOobjective_server_nodePlanning for 36 path waypoints. ×6 + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961312 ms (missed cycles : 3). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961312 ms (missed cycles : 3).[0m ×2 + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390001 ms (missed cycles : 3). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390001 ms (missed cycles : 3).[0m ×2 + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343491 ms (missed cycles : 5). + 52.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343491 ms (missed cycles : 5).[0m ×2 + 53.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984568 ms (missed cycles : 2). + 53.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984568 ms (missed cycles : 2).[0m ×2 + 53.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 54.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819584 ms (missed cycles : 5). + 54.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819584 ms (missed cycles : 5).[0m ×2 + 54.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080628 ms (missed cycles : 2). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080628 ms (missed cycles : 2).[0m ×2 + 55.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 56.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388197 ms (missed cycles : 4). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388197 ms (missed cycles : 4).[0m ×2 + 57.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455661 ms (missed cycles : 3). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455661 ms (missed cycles : 3).[0m ×2 + 58.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 59.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867806 ms (missed cycles : 2). + 59.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867806 ms (missed cycles : 2).[0m ×2 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 60.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395700 ms (missed cycles : 4). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395700 ms (missed cycles : 4).[0m ×2 + 60.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989888 ms (missed cycles : 3). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989888 ms (missed cycles : 3).[0m ×2 + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633260 ms (missed cycles : 4). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633260 ms (missed cycles : 4).[0m ×2 + 63.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676131 ms (missed cycles : 2). + 63.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676131 ms (missed cycles : 2).[0m ×2 + 64.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111842 ms (missed cycles : 3). + 64.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111842 ms (missed cycles : 3).[0m ×2 + 65.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535035 ms (missed cycles : 3). + 65.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535035 ms (missed cycles : 3).[0m ×2 + 66.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938127 ms (missed cycles : 2). + 66.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938127 ms (missed cycles : 2).[0m ×2 + 67.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 67.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310201 ms (missed cycles : 5). + 67.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310201 ms (missed cycles : 5).[0m ×2 + 68.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 68.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987748 ms (missed cycles : 2). + 68.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987748 ms (missed cycles : 2).[0m ×2 + 69.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012400 ms (missed cycles : 2). + 69.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012400 ms (missed cycles : 2).[0m ×2 + 69.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 70.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 70.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075622 ms (missed cycles : 2). + 70.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075622 ms (missed cycles : 2).[0m ×2 + 71.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 71.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996389 ms (missed cycles : 2). + 71.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996389 ms (missed cycles : 2).[0m ×2 + 71.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 72.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087283 ms (missed cycles : 4). + 72.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087283 ms (missed cycles : 4).[0m ×2 + 73.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 73.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688593 ms (missed cycles : 4). + 73.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688593 ms (missed cycles : 4).[0m ×2 + 73.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 74.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939722 ms (missed cycles : 2). + 74.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939722 ms (missed cycles : 2).[0m ×2 + 75.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785412285.61656594 seconds ×3 + 75.49sINFOamclParticle filter update iteration stats: 2878 particles 723 points - 1.958ms + 75.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.316ms + 75.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005087 ms (missed cycles : 3). + 75.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005087 ms (missed cycles : 3).[0m ×2 + 75.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.856ms + 75.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785412286.17418957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.464ms + 76.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 76.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 77.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 77.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 77.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.3s | 183 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.45sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.45sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074687 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074687 ms (missed cycles : 2).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.788ms + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.100ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685507 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685507 ms (missed cycles : 2).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.295ms + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.345ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618855 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618855 ms (missed cycles : 4).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.274ms + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.950ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929696 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929696 ms (missed cycles : 4).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.402ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.679ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363485 ms (missed cycles : 5). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363485 ms (missed cycles : 5).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.477ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.040ms + 12.70sINFOamclParticle filter update iteration stats: 4766 particles 723 points - 5.883ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138893 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138893 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 4.314ms + 13.70sINFOamclParticle filter update iteration stats: 3180 particles 723 points - 3.070ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997270 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997270 ms (missed cycles : 4).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 3.086ms + 14.70sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 2.855ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673268 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673268 ms (missed cycles : 5).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.526ms + 15.69sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.978ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003955 ms (missed cycles : 4).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630235 ms (missed cycles : 4). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630235 ms (missed cycles : 4).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683246 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683246 ms (missed cycles : 2).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms ×2 + 19.01sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961323 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961323 ms (missed cycles : 3).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901643 ms (missed cycles : 2). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901643 ms (missed cycles : 2).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579821 ms (missed cycles : 4). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579821 ms (missed cycles : 4).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399258 ms (missed cycles : 5). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399258 ms (missed cycles : 5).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008304 ms (missed cycles : 4). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008304 ms (missed cycles : 4).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438101 ms (missed cycles : 4). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438101 ms (missed cycles : 4).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329839 ms (missed cycles : 5). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329839 ms (missed cycles : 5).[0m ×2 + 26.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544516 ms (missed cycles : 4). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544516 ms (missed cycles : 4).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127328 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127328 ms (missed cycles : 2).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882060 ms (missed cycles : 5). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882060 ms (missed cycles : 5).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.996168 ms (missed cycles : 6). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.996168 ms (missed cycles : 6).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588985 ms (missed cycles : 4). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588985 ms (missed cycles : 4).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065112 ms (missed cycles : 5). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065112 ms (missed cycles : 5).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883742 ms (missed cycles : 4). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883742 ms (missed cycles : 4).[0m ×2 + 33.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785562 ms (missed cycles : 4). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785562 ms (missed cycles : 4).[0m ×2 + 34.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046735 ms (missed cycles : 3). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046735 ms (missed cycles : 3).[0m ×2 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413573 ms (missed cycles : 4). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413573 ms (missed cycles : 4).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978179 ms (missed cycles : 3). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978179 ms (missed cycles : 3).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034050 ms (missed cycles : 2). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034050 ms (missed cycles : 2).[0m ×2 + 38.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956810 ms (missed cycles : 2). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956810 ms (missed cycles : 2).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360723 ms (missed cycles : 3). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360723 ms (missed cycles : 3).[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818946 ms (missed cycles : 4). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818946 ms (missed cycles : 4).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625826 ms (missed cycles : 2). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625826 ms (missed cycles : 2).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052550 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052550 ms (missed cycles : 2).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396212 ms (missed cycles : 4). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396212 ms (missed cycles : 4).[0m ×2 + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114161 ms (missed cycles : 2). + 45.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114161 ms (missed cycles : 2).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919147 ms (missed cycles : 2). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919147 ms (missed cycles : 2).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038357 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038357 ms (missed cycles : 2).[0m ×2 + 47.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.716ms + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383211 ms (missed cycles : 2). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383211 ms (missed cycles : 2).[0m ×2 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296974 ms (missed cycles : 5). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296974 ms (missed cycles : 5).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156299 ms (missed cycles : 2). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156299 ms (missed cycles : 2).[0m ×2 + 51.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235730 ms (missed cycles : 3). + 51.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235730 ms (missed cycles : 3).[0m ×2 + 52.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279960 ms (missed cycles : 2). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279960 ms (missed cycles : 2).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.906010 ms (missed cycles : 7). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.906010 ms (missed cycles : 7).[0m ×2 + 54.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 54.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140941 ms (missed cycles : 2). + 54.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140941 ms (missed cycles : 2).[0m ×2 + 55.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965344 ms (missed cycles : 3). + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965344 ms (missed cycles : 3).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974364 ms (missed cycles : 2). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974364 ms (missed cycles : 2).[0m ×2 + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199278 ms (missed cycles : 7). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199278 ms (missed cycles : 7).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 59.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576967 ms (missed cycles : 7). + 59.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576967 ms (missed cycles : 7).[0m ×2 + 59.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785412346.72702909 seconds ×3 + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.978ms + 59.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.947ms + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975864 ms (missed cycles : 3). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975864 ms (missed cycles : 3).[0m ×2 + 60.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 60.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785412347.28233385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.39sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 60.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.576ms + 60.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037911 ms (missed cycles : 3). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037911 ms (missed cycles : 3).[0m ×2 + 61.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.939ms + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380541 ms (missed cycles : 2). + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380541 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.3s | 183 warnings · 159 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785412054.65838170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.36sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.36sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785412057.58852601 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996298 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996298 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785412058.13669133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282633 ms (missed cycles : 4). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282633 ms (missed cycles : 4).[0m ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479042 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479042 ms (missed cycles : 4).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209175 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209175 ms (missed cycles : 2).[0m ×2 + 7.54sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 1.457ms + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057172 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057172 ms (missed cycles : 2).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.313ms + 8.64sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.099ms + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721299 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721299 ms (missed cycles : 2).[0m ×2 + 9.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 9.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 10.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313425 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313425 ms (missed cycles : 4).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 11.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983351 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983351 ms (missed cycles : 2).[0m ×2 + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 12.03sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727444 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727444 ms (missed cycles : 2).[0m ×2 + 12.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761683 ms (missed cycles : 4). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761683 ms (missed cycles : 4).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906237 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906237 ms (missed cycles : 2).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901132 ms (missed cycles : 6). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901132 ms (missed cycles : 6).[0m ×2 + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms ×2 + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807485 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807485 ms (missed cycles : 2).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476956 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476956 ms (missed cycles : 2).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms ×2 + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507076 ms (missed cycles : 4). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507076 ms (missed cycles : 4).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241843 ms (missed cycles : 4). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241843 ms (missed cycles : 4).[0m ×2 + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649689 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649689 ms (missed cycles : 2).[0m ×2 + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms ×2 + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367885 ms (missed cycles : 4). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367885 ms (missed cycles : 4).[0m ×2 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348184 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348184 ms (missed cycles : 3).[0m ×2 + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511796 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511796 ms (missed cycles : 2).[0m ×2 + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066219 ms (missed cycles : 5). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066219 ms (missed cycles : 5).[0m ×2 + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643878 ms (missed cycles : 4). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643878 ms (missed cycles : 4).[0m ×2 + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.719ms + 26.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.687ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559110 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559110 ms (missed cycles : 3).[0m ×2 + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653849 ms (missed cycles : 2). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653849 ms (missed cycles : 2).[0m ×2 + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.713ms + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms ×2 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602718 ms (missed cycles : 5). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602718 ms (missed cycles : 5).[0m ×2 + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300677 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300677 ms (missed cycles : 2).[0m ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms ×2 + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.721ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676138 ms (missed cycles : 5). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676138 ms (missed cycles : 5).[0m ×2 + 31.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759479 ms (missed cycles : 2). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759479 ms (missed cycles : 2).[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875613 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875613 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 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.817524 ms (missed cycles : 6). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.817524 ms (missed cycles : 6).[0m ×2 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756504 ms (missed cycles : 3). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756504 ms (missed cycles : 3).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337817 ms (missed cycles : 4). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337817 ms (missed cycles : 4).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188446 ms (missed cycles : 2). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188446 ms (missed cycles : 2).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701485 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701485 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962214 ms (missed cycles : 6). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962214 ms (missed cycles : 6).[0m ×2 + 39.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825436 ms (missed cycles : 2). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825436 ms (missed cycles : 2).[0m ×2 + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105873 ms (missed cycles : 2). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105873 ms (missed cycles : 2).[0m ×2 + 41.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773428 ms (missed cycles : 5). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773428 ms (missed cycles : 5).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890054 ms (missed cycles : 4). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890054 ms (missed cycles : 4).[0m ×2 + 44.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152087 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152087 ms (missed cycles : 2).[0m ×2 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179443 ms (missed cycles : 4). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179443 ms (missed cycles : 4).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181421 ms (missed cycles : 4). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181421 ms (missed cycles : 4).[0m ×2 + 48.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.200790 ms (missed cycles : 6). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.200790 ms (missed cycles : 6).[0m ×2 + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.686737 ms (missed cycles : 5). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.686737 ms (missed cycles : 5).[0m ×2 + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238658 ms (missed cycles : 5). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238658 ms (missed cycles : 5).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902334 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902334 ms (missed cycles : 3).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277531 ms (missed cycles : 3). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277531 ms (missed cycles : 3).[0m ×2 + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961275 ms (missed cycles : 4). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961275 ms (missed cycles : 4).[0m ×2 + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956259 ms (missed cycles : 2). + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956259 ms (missed cycles : 2).[0m ×2 + 55.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.662ms + 55.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543033 ms (missed cycles : 2). + 55.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543033 ms (missed cycles : 2).[0m ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 59.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 59.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 60.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 60.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 60.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.63sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 60.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 60.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 62.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 62.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 62.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.8s | 177 warnings · 169 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.42sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785412150.03811193 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.216ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.669ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785412150.58622956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.132ms + 5.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.33sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.33sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.33sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.055ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.615ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940359 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940359 ms (missed cycles : 5).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.074ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943785 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943785 ms (missed cycles : 3).[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.631ms + 8.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856016 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856016 ms (missed cycles : 2).[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 3876 particles 723 points - 5.596ms + 9.99sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 3.394ms + 10.48sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.801ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488877 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488877 ms (missed cycles : 4).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239683 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239683 ms (missed cycles : 4).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 12.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778031 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778031 ms (missed cycles : 3).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938711 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938711 ms (missed cycles : 4).[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.736ms + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176740 ms (missed cycles : 4). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176740 ms (missed cycles : 4).[0m ×2 + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961452 ms (missed cycles : 3). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961452 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302407 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302407 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.701ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789460 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789460 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255405 ms (missed cycles : 4). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255405 ms (missed cycles : 4).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002516 ms (missed cycles : 4). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002516 ms (missed cycles : 4).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms ×2 + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356131 ms (missed cycles : 4). + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356131 ms (missed cycles : 4).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097590 ms (missed cycles : 2). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097590 ms (missed cycles : 2).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960656 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960656 ms (missed cycles : 3).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558529 ms (missed cycles : 4). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558529 ms (missed cycles : 4).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315113 ms (missed cycles : 5). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315113 ms (missed cycles : 5).[0m ×2 + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301641 ms (missed cycles : 5). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301641 ms (missed cycles : 5).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174828 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174828 ms (missed cycles : 2).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.628ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256863 ms (missed cycles : 5). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256863 ms (missed cycles : 5).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.625258 ms (missed cycles : 7). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.625258 ms (missed cycles : 7).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.683ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204521 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204521 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393548 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393548 ms (missed cycles : 2).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005239 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005239 ms (missed cycles : 2).[0m ×2 + 33.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919547 ms (missed cycles : 3). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919547 ms (missed cycles : 3).[0m ×2 + 33.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.58sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233592 ms (missed cycles : 5). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233592 ms (missed cycles : 5).[0m ×2 + 35.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348471 ms (missed cycles : 3). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348471 ms (missed cycles : 3).[0m ×2 + 35.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.718ms + 36.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984382 ms (missed cycles : 2). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984382 ms (missed cycles : 2).[0m ×2 + 37.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 37.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903012 ms (missed cycles : 3). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903012 ms (missed cycles : 3).[0m ×2 + 38.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 38.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602060 ms (missed cycles : 4). + 38.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602060 ms (missed cycles : 4).[0m ×2 + 39.60sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.743ms + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085011 ms (missed cycles : 4). + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085011 ms (missed cycles : 4).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788299 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788299 ms (missed cycles : 2).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913218 ms (missed cycles : 2). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913218 ms (missed cycles : 2).[0m ×2 + 42.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 42.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659662 ms (missed cycles : 3). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659662 ms (missed cycles : 3).[0m ×2 + 43.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865798 ms (missed cycles : 3). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865798 ms (missed cycles : 3).[0m ×2 + 44.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244750 ms (missed cycles : 2). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244750 ms (missed cycles : 2).[0m ×2 + 45.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005416 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005416 ms (missed cycles : 2).[0m ×2 + 45.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347252 ms (missed cycles : 3). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347252 ms (missed cycles : 3).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724093 ms (missed cycles : 4). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724093 ms (missed cycles : 4).[0m ×2 + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780327 ms (missed cycles : 2). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780327 ms (missed cycles : 2).[0m ×2 + 49.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.657ms + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041959 ms (missed cycles : 3). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041959 ms (missed cycles : 3).[0m ×2 + 50.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.707ms + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882817 ms (missed cycles : 4). + 51.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882817 ms (missed cycles : 4).[0m ×2 + 52.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.684ms + 52.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211561 ms (missed cycles : 5). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211561 ms (missed cycles : 5).[0m ×2 + 53.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138986 ms (missed cycles : 2). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138986 ms (missed cycles : 2).[0m ×2 + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207473 ms (missed cycles : 4). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207473 ms (missed cycles : 4).[0m ×2 + 54.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232620 ms (missed cycles : 2). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232620 ms (missed cycles : 2).[0m ×2 + 56.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785412202.81636047 seconds ×3 + 56.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.661ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484155 ms (missed cycles : 4). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484155 ms (missed cycles : 4).[0m ×2 + 56.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.175ms + 56.79sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785412203.36657262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 57.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.542ms + 57.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 57.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms + 57.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849983 ms (missed cycles : 3). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849983 ms (missed cycles : 3).[0m ×2 + 57.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 57.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.051ms + 58.04sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942415 ms (missed cycles : 3). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942415 ms (missed cycles : 3).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 59.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517427 ms (missed cycles : 5). + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517427 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.2s | 144 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.73sINFOmove_groupClearing octomap...[0m ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_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 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 4.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457517 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457517 ms (missed cycles : 4).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878282 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878282 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881940 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881940 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307121 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307121 ms (missed cycles : 4).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652727 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652727 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239427 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239427 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162580 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162580 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989783 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989783 ms (missed cycles : 3).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332062 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332062 ms (missed cycles : 3).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887764 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887764 ms (missed cycles : 3).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413066 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413066 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787871 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787871 ms (missed cycles : 2).[0m ×2 + 18.84sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.901ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969912 ms (missed cycles : 3). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969912 ms (missed cycles : 3).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546965 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546965 ms (missed cycles : 3).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696603 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696603 ms (missed cycles : 3).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566166 ms (missed cycles : 4). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566166 ms (missed cycles : 4).[0m ×2 + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134641 ms (missed cycles : 4). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134641 ms (missed cycles : 4).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860498 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860498 ms (missed cycles : 2).[0m ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477966 ms (missed cycles : 4). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477966 ms (missed cycles : 4).[0m ×2 + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475776 ms (missed cycles : 3). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475776 ms (missed cycles : 3).[0m ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187698 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187698 ms (missed cycles : 2).[0m ×2 + 29.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608111 ms (missed cycles : 4). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608111 ms (missed cycles : 4).[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060686 ms (missed cycles : 4). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060686 ms (missed cycles : 4).[0m ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672650 ms (missed cycles : 3). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672650 ms (missed cycles : 3).[0m ×2 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044319 ms (missed cycles : 4). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.044319 ms (missed cycles : 4).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663998 ms (missed cycles : 3). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663998 ms (missed cycles : 3).[0m ×2 + 34.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195216 ms (missed cycles : 3). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195216 ms (missed cycles : 3).[0m ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509487 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509487 ms (missed cycles : 3).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862281 ms (missed cycles : 3). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862281 ms (missed cycles : 3).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094733 ms (missed cycles : 2). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094733 ms (missed cycles : 2).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890923 ms (missed cycles : 3). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890923 ms (missed cycles : 3).[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415541 ms (missed cycles : 4). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415541 ms (missed cycles : 4).[0m ×2 + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034080 ms (missed cycles : 5). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034080 ms (missed cycles : 5).[0m ×2 + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996275 ms (missed cycles : 2). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996275 ms (missed cycles : 2).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2).[0m ×2 + 45.76sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 45.76sINFOros2_control_nodeGoal reached, success![0m ×4 + 45.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785412054.11277533 seconds ×3 + 46.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785412054.65838170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2).[0m ×2 + 47.14sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). ×2 + 47.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5).[0m ×2 + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4).[0m ×2 + 49.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785412057.58852601 seconds ×3 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.6s | 108 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.295ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368494 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368494 ms (missed cycles : 5).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.32sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.34sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785412118.38826704 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982898 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982898 ms (missed cycles : 2).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785412119.92795420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138481 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138481 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790089 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790089 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.59sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449645 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449645 ms (missed cycles : 5).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439814 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439814 ms (missed cycles : 2).[0m ×2 + 7.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.498ms + 8.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.916ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331035 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331035 ms (missed cycles : 2).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.110ms + 9.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.573ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063288 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063288 ms (missed cycles : 4).[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 10.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.667ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292624 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.292624 ms (missed cycles : 5).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.281ms + 11.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.977ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960953 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960953 ms (missed cycles : 2).[0m ×2 + 11.72sINFOamclParticle filter update iteration stats: 3907 particles 723 points - 4.150ms + 12.22sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 3.010ms + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578159 ms (missed cycles : 5). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578159 ms (missed cycles : 5).[0m ×2 + 12.72sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.783ms + 13.22sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.270ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580897 ms (missed cycles : 4). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580897 ms (missed cycles : 4).[0m ×2 + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762908 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762908 ms (missed cycles : 2).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms ×2 + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387472 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387472 ms (missed cycles : 2).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839803 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839803 ms (missed cycles : 2).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677618 ms (missed cycles : 5). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677618 ms (missed cycles : 5).[0m ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 18.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454542 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454542 ms (missed cycles : 2).[0m ×2 + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605482 ms (missed cycles : 4). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605482 ms (missed cycles : 4).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900105 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900105 ms (missed cycles : 2).[0m ×2 + 21.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951008 ms (missed cycles : 3). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951008 ms (missed cycles : 3).[0m ×2 + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844010 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844010 ms (missed cycles : 2).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260487 ms (missed cycles : 4). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260487 ms (missed cycles : 4).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.740ms + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878748 ms (missed cycles : 6). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878748 ms (missed cycles : 6).[0m ×2 + 25.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643568 ms (missed cycles : 3). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643568 ms (missed cycles : 3).[0m ×2 + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139194 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139194 ms (missed cycles : 2).[0m ×2 + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604433 ms (missed cycles : 3). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604433 ms (missed cycles : 3).[0m ×2 + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.660ms + 29.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535192 ms (missed cycles : 4). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535192 ms (missed cycles : 4).[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.712ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2).[0m ×2 + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3).[0m ×2 + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3).[0m ×2 + 33.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3).[0m ×2 + 33.99sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785412150.03811193 seconds ×3 + 34.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.216ms + 34.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 34.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.669ms + 34.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785412150.58622956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 34.85sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 35.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 35.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5).[0m ×2 + 35.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.132ms + 35.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.055ms + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4).[0m ×2 + 36.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.615ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.7s | 54 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974364 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974364 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199278 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.199278 ms (missed cycles : 7).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.790ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576967 ms (missed cycles : 7). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.576967 ms (missed cycles : 7).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785412346.72702909 seconds ×3 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.978ms + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.947ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975864 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975864 ms (missed cycles : 3).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.458ms + 3.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785412347.28233385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.576ms + 3.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037911 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037911 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.939ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380541 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380541 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.876ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745602 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745602 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991979 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991979 ms (missed cycles : 3).[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 7.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 7.80sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 69 iterations (0.0409708 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617400 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617400 ms (missed cycles : 4).[0m ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.31sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915506 ms (missed cycles : 5). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915506 ms (missed cycles : 5).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617137 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617137 ms (missed cycles : 4).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.816ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909686 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909686 ms (missed cycles : 2).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.998ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.756ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725274 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725274 ms (missed cycles : 3).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.247ms + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.626ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.168ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785412359.38918185 seconds ×3 + 15.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.612ms + 15.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785412359.97384167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.91sINFOmove_groupClearing octomap...[0m ×2 + 15.91sINFOmove_groupOctomap cleared.[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.619ms + 16.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785412360.39398980 seconds ×3 + 16.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.600ms + 16.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.825ms + 16.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5).[0m ×2 + 16.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785412360.94438672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.096ms + 17.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785412361.26453018 seconds ×3 + 17.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 17.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5). + 18.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.007ms + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 87 errors · 30 warnings · 385 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.626ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.168ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3).[0m ×2 + 1.88sINFOjoint_trajectory_controllerGoal reached, success! + 1.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785412359.38918185 seconds ×3 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.612ms + 2.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785412359.97384167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.619ms + 2.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785412360.39398980 seconds ×3 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.600ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.825ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785412360.94438672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.096ms + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785412361.26453018 seconds ×3 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 4.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5). + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.007ms + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315137 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315137 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191005 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191005 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858326 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858326 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078282 ms (missed cycles : 5). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078282 ms (missed cycles : 5).[0m ×2 + 8.71sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578782 ms (missed cycles : 4). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578782 ms (missed cycles : 4).[0m ×2 + 10.01sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 10.08sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORweb_video_auth_proxy-34process has died [pid 10533, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.08sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 10.12sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORweb_bridge_auth_proxy-33process has died [pid 10511, 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 + 10.12sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 10.15sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 10.16sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 10.18sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 10.20sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 10.22sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.23sINFOvideo_server-32process has finished cleanly [pid 10510] ×2 + 10.24sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.26sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.28sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.30sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.32sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.33sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.36sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.39sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.39sINFOcontroller_managerShutdown request received.... + 10.39sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.39sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.39sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.39sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.39sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.39sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.39sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.39sINFOcontroller_managerShutting down the controller manager. + 10.41sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.41sINFOtf2_web_republisher_node-31process has finished cleanly [pid 10509] ×2 + 10.41sERRORmove_group-20process has died [pid 10478, 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_avskufl3 --params-file /tmp/launch_params_a6ct736w --params-file /tmp/launch_params_0w2bfjxh --params-file /tmp/launch_params_yrkjhwe1 --params-file /tmp/launch_params_aejq1god --params-file /tmp/launch_params_xahe15bk']. ×2 + 10.41sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 10.43sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.44sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.46sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.48sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.50sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.50sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.50sINFOmap_serverDeactivating + 10.50sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.50sINFOvideo_server2026/07/30 11:52:47 INF shutting down gracefully ×2 + 10.50sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.50sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOvideo_server2026/07/30 11:52:47 INF [WebRTC] closing ×2 + 10.51sINFOvideo_server2026/07/30 11:52:47 INF [RTSP] closing ×2 + 10.51sINFOvideo_server2026/07/30 11:52:47 INF waiting for running hooks ×2 + 10.51sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.51sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.51sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.51sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.51sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 10.51sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.51sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.51sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.51sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.51sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.51sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.51sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.51sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.51sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.51sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.51sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sINFOmap_serverCleaning up + 10.51sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.51sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.51sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.51sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.51sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.51sERRORmove_groupStack trace (most recent call last) in thread 11048: ×2 + 10.51sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.51sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441c7c4a63, in __clone ×2 + 10.51sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441c737aa3, in ×2 + 10.51sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f441c9c9db3, in ×2 + 10.51sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f441d10ced7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.51sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f441cd3c4d0, in rclcpp::Rate::sleep() ×2 + 10.51sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f441cc8fa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.51sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f441cc54a71, in ×2 + 10.51sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f441c998390, in __cxa_throw ×2 + 10.51sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f441c982a54, in std::terminate() ×2 + 10.51sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f441c9980d9, in ×2 + 10.51sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f441c982ff4, in ×2 + 10.51sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441c6c38fe, in abort ×2 + 10.51sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441c6e027d, in raise ×2 + 10.51sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f441c739b2c, in pthread_kill ×2 + 10.51sERRORmove_groupAborted (Signal sent by tkill() 10478 0) ×2 + 10.52sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.52sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.52sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.52sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.52sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.52sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.52sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.52sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.52sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 10.52sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.52sINFOobjective_server_node[2026-07-30 11:52:47.908] [moveit_pro_license] [info] ×2 + 10.52sINFOobjective_server_node************************************************* ×4 + 10.52sINFOobjective_server_node* MoveIt Pro License ×2 + 10.52sINFOobjective_server_node* Application has successfully terminated ×2 + 10.52sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.52sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.52sINFOodom_qos_relay.pymain() ×2 + 10.52sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.52sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.52sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.52sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.52sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.52sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.52sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.53sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.53sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.53sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.53sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.53sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.53sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.53sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.53sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.53sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55686e9476a4, in _start ×2 + 10.53sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd6ee2528a, in __libc_start_main ×2 + 10.53sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd6ee251d0, in ×2 + 10.53sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd6ee42bbd, in exit ×2 + 10.53sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd6ee42a75, in ×2 + 10.53sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fbd6f3118f5, in spdlog::details::registry::~registry() ×2 + 10.53sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55686e947d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.53sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55686e94e315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.53sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55686e94d5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.53sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55686e949b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.53sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55686e947d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.53sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd6f9cb454, in rclcpp::Node::~Node() ×2 + 10.53sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd6f986515, in ×2 + 10.53sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd6f9c9d20, in ×2 + 10.53sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd6f9c9c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.53sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd6f9865d9, in ×2 + 10.53sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd6f98b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.53sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fbd21751030]) ×2 + 10.53sERRORamclThe bond connection to the lifecycle manager has been broken + 10.54sERRORobjective_server_node_main-25process has died [pid 10503, 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_zl_gkuux --params-file /tmp/launch_params_xyoco9xj --params-file /tmp/launch_params_lu3290_z --params-file /tmp/launch_params_uihh8rdi --params-file /tmp/launch_params_hktw5u08 --params-file /tmp/launch_params_zcmnt00c --params-file /tmp/launch_params_3yvpmvrd --params-file /tmp/launch_params_7e_b4yej --params-file /tmp/launch_params_b61segat']. ×2 + 10.54sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.61sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.61sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.73sERRORcomponent_container_isolated-2process has died [pid 10383, 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_nx0o7yv5 --params-file /tmp/launch_params_w3bb9_09 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.31sERRORui_teleop_bridge-29process has died [pid 10507, 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_n1h1oucz']. ×2 + 11.31sINFOexecute_objective_bridge-28process has finished cleanly [pid 10506] ×2 + 11.33sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 10502] ×2 + 11.33sINFOcomponent_container_mt-27process has finished cleanly [pid 10505] ×2 + 11.34sINFOmove_joint_resampler_node-23process has finished cleanly [pid 10481] ×2 + 11.40sINFOparameter_manager_node-21process has finished cleanly [pid 10479] ×2 + 11.40sINFOwaypoint_manager_node-22process has finished cleanly [pid 10480] ×2 + 11.45sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10388] ×2 + 11.45sINFOcomponent_container_mt-26process has finished cleanly [pid 10504] ×2 + 11.47sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10387] ×2 + 11.50sINFOstatic_transform_publisher-4process has finished cleanly [pid 10385] ×2 + 11.52sINFOstatic_transform_publisher-3process has finished cleanly [pid 10384] ×2 + 11.54sERRORodom_qos_relay.py-5process has died [pid 10386, 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 + 12.87sINFOweb_bridge-30process has finished cleanly [pid 10508] ×2 + 12.87sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 13.14sINFOros2_control_node-8process has finished cleanly [pid 10389] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 51 warnings · 96 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138986 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138986 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207473 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207473 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232620 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232620 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785412202.81636047 seconds ×3 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.661ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484155 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484155 ms (missed cycles : 4).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.175ms + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785412203.36657262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.542ms + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849983 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849983 ms (missed cycles : 3).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.051ms + 4.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942415 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942415 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517427 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.517427 ms (missed cycles : 5).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630510 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630510 ms (missed cycles : 3).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.138ms + 7.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.951ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119838 ms (missed cycles : 5). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119838 ms (missed cycles : 5).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.450ms + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.339ms + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350718 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350718 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.856ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.221ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722952 ms (missed cycles : 5). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722952 ms (missed cycles : 5).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 4.628ms + 11.00sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 4.036ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545639 ms (missed cycles : 6). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.545639 ms (missed cycles : 6).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 3107 particles 723 points - 3.036ms + 12.01sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.411ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771736 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771736 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 1.554ms + 13.00sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.447ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260836 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260836 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 13.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.61sINFOjoint_trajectory_controllerGot request to cancel goal + 13.61sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.61sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.61sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.64sERRORobjective_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: 1785412213.60461879 seconds ×3 + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.827ms + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.392ms + 14.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785412214.14641857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248564 ms (missed cycles : 3). + 14.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248564 ms (missed cycles : 3).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.173ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.109ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.591ms + 15.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746249 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746249 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.631ms + 16.10sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 3.973ms + 16.40sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 2.879ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526393 ms (missed cycles : 4). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526393 ms (missed cycles : 4).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.180ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 + 6.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.295ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368494 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368494 ms (missed cycles : 5).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785412118.38826704 seconds ×3 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982898 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982898 ms (missed cycles : 2).[0m ×2 + 9.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785412119.92795420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138481 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138481 ms (missed cycles : 3).[0m ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790089 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790089 ms (missed cycles : 2).[0m ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449645 ms (missed cycles : 5). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449645 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.8s | 33 warnings · 63 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087283 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087283 ms (missed cycles : 4).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688593 ms (missed cycles : 4). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688593 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939722 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939722 ms (missed cycles : 2).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.31sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785412285.61656594 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 2878 particles 723 points - 1.958ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.316ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005087 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005087 ms (missed cycles : 3).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.856ms + 3.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785412286.17418957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.464ms + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 8.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 10.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 27 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.41sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785412054.11277533 seconds ×3 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785412054.65838170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 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 + 3.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785412057.58852601 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996298 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996298 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785412058.13669133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282633 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282633 ms (missed cycles : 4).[0m ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479042 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479042 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.756ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725274 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725274 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.247ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.626ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.168ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785412359.38918185 seconds ×3 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.612ms + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785412359.97384167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.619ms + 4.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785412360.39398980 seconds ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.600ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.825ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785412360.94438672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.096ms + 4.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785412361.26453018 seconds ×3 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 5.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5). + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.007ms + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315137 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315137 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[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 4.591403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.73sINFOmove_groupClearing octomap...[0m ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_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 + 2.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 4.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.41sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785412054.11277533 seconds ×3 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785412054.65838170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785412057.58852601 seconds ×3 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977090 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714699 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907228 ms (missed cycles : 2).[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.41sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785412054.11277533 seconds ×3 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785412054.65838170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785412057.58852601 seconds ×3 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 52 info |
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785412054.65838170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061651 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (1.865e-05 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695586 ms (missed cycles : 5).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014701 ms (missed cycles : 4).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785412057.58852601 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996298 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996298 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785412058.13669133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282633 ms (missed cycles : 4). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282633 ms (missed cycles : 4).[0m ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479042 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479042 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684877 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585799 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2). + 2.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591092 ms (missed cycles : 2).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785412113.92684793 seconds ×3 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176227 ms (missed cycles : 2).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.122ms + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.811ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785412114.47811580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 3.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193176 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308299 ms (missed cycles : 5).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772450 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785412150.03811193 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.216ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.669ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785412150.58622956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.132ms + 5.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.33sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.055ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.615ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785412150.03811193 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.216ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.669ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785412150.58622956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.132ms + 5.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.33sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.055ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.615ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747208 ms (missed cycles : 2).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439160 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795606 ms (missed cycles : 3).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795138 ms (missed cycles : 3).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785412150.03811193 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.216ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.669ms + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785412150.58622956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575563 ms (missed cycles : 4).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240883 ms (missed cycles : 5).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.132ms + 5.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.33sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.055ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.578876 ms (missed cycles : 4).[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.615ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603108 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969659 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978833 ms (missed cycles : 5).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553764 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785412290.37734342 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785412290.93674850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400467 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074103 ms (missed cycles : 5).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533529 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.756ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725274 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725274 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.247ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.626ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345689 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.168ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020771 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785412359.38918185 seconds ×3 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841149 ms (missed cycles : 5).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.612ms + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785412359.97384167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.619ms + 4.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785412360.39398980 seconds ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.600ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.825ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.366ms + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011130 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785412360.94438672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.096ms + 4.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785412361.26453018 seconds ×3 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 5.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5). + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.007ms + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691959 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923013 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.88sINFOmove_groupClearing octomap...[0m ×2 + 3.88sINFOmove_groupOctomap cleared.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 7.37sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.37sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.65sINFOjoint_trajectory_controllerReceived new action goal + 6.65sINFOjoint_trajectory_controllerAccepted new action goal + 6.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923013 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923013 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.88sINFOmove_groupClearing octomap...[0m ×2 + 3.88sINFOmove_groupOctomap cleared.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 6.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 106 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869220 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.89sINFOmove_groupClearing octomap...[0m ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250390 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591403 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785412009.04644704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785412009.05668521 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009111 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785412009.60398674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785412009.61411214 seconds ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785412010.15453553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785412010.30502558 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547364 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785412010.87769818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785412010.93783760 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785412011.48425770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170233 ms (missed cycles : 4).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374901 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593909 ms (missed cycles : 3).[0m ×2 | ||||