MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.2s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	31.7s	14 errors · 309 warnings · 1170 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/2026-07-30-15-08-23-074371-4c534d29b3fb-9234 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.76sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 12.76sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 12.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.88sINFOcontroller_managerupdate rate is 600 Hz + 12.88sINFOcontroller_managerOverruns handling is : enabled + 12.88sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.89sWARNcontroller_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. + 12.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 12.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.02sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.03sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843025 ms (missed cycles : 2). + 13.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.06sINFOros2_control_node-8process started with pid [9291] ×2 + 13.06sINFOmove_group-20process started with pid [9380] ×2 + 13.06sINFOparameter_manager_node-21process started with pid [9381] ×2 + 13.06sINFOwaypoint_manager_node-22process started with pid [9382] ×2 + 13.06sINFOmove_joint_resampler_node-23process started with pid [9383] ×2 + 13.06sINFOmove_end_effector_resampler_node-24process started with pid [9404] ×2 + 13.06sINFOobjective_server_node_main-25process started with pid [9405] ×2 + 13.06sINFOcomponent_container_mt-26process started with pid [9406] ×2 + 13.06sINFOcomponent_container_mt-27process started with pid [9407] ×2 + 13.06sINFOexecute_objective_bridge-28process started with pid [9408] ×2 + 13.06sINFOui_teleop_bridge-29process started with pid [9409] ×2 + 13.06sINFOweb_bridge-30process started with pid [9410] ×2 + 13.06sINFOtf2_web_republisher_node-31process started with pid [9411] ×2 + 13.06sINFOvideo_server-32process started with pid [9412] ×2 + 13.06sINFOweb_bridge_auth_proxy-33process started with pid [9413] ×2 + 13.06sINFOweb_video_auth_proxy-34process started with pid [9414] ×2 + 13.07sINFOcomponent_container_isolated-1process started with pid [9284] ×2 + 13.07sINFOcomponent_container_isolated-2process started with pid [9285] ×2 + 13.09sINFOstatic_transform_publisher-3process started with pid [9286] ×2 + 13.09sINFOstatic_transform_publisher-4process started with pid [9287] ×2 + 13.09sINFOodom_qos_relay.py-5process started with pid [9288] ×2 + 13.09sINFOscan_to_scan_filter_chain-6process started with pid [9289] ×2 + 13.09sINFOscan_to_scan_filter_chain-7process started with pid [9290] ×2 + 13.10sINFOros2-9process started with pid [9369] ×2 + 13.10sINFOros2-10process started with pid [9370] ×2 + 13.10sINFOros2-11process started with pid [9371] ×2 + 13.10sINFOros2-12process started with pid [9372] ×2 + 13.10sINFOros2-13process started with pid [9373] ×2 + 13.10sINFOros2-14process started with pid [9374] ×2 + 13.10sINFOros2-15process started with pid [9375] ×2 + 13.10sINFOros2-16process started with pid [9376] ×2 + 13.10sINFOros2-17process started with pid [9377] ×2 + 13.10sINFOros2-18process started with pid [9378] ×2 + 13.10sINFOros2-19process started with pid [9379] ×2 + 13.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.10sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.14sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.16sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.16sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.16sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.16sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.18sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.18sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.18sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.18sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.18sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.18sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.18sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843025 ms (missed cycles : 2).[0m ×2 + 13.23sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.25sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.25sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.32sINFOcontroller_serverCreating controller server + 13.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.33sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.40sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.40sINFOmap_serverCreating + 13.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.41sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.42sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.43sINFOrobot_state_publisherRobot initialized + 13.43sINFOlocal_costmap.local_costmapCreating Costmap + 13.43sINFOcontroller_managerReceived robot description from topic. + 13.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.43sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.43sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.44sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.44sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.50sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.55sINFOsmoother_serverCreating smoother server + 13.55sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.56sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.58sINFOlifecycle_manager_localizationCreating + 13.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.62sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.62sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.64sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.64sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.64sINFOmap_serverConfiguring + 13.65sINFOplanner_serverCreating + 13.70sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.70sINFOamclConfiguring + 13.70sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.70sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.70sINFOmap_serverActivating + 13.70sINFOglobal_costmap.global_costmapCreating Costmap + 13.71sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.73sINFOvideo_server2026/07/30 15:08:40 INF MediaMTX v1.19.3, linux, amd64 ×2 + 13.73sINFOvideo_server2026/07/30 15:08:40 INF configuration loaded from /tmp/moveit-webrtc-5e6qvjtq/mediamtx.yml ×2 + 13.73sINFOvideo_server2026/07/30 15:08:40 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 13.73sINFOvideo_server2026/07/30 15:08:40 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 13.73sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.77sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.77sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.77sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 13.79sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.82sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.82sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.82sINFOamclActivating + 13.82sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.82sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.85sINFOamclSubscribed to map_topic: /map + 13.85sINFOamclSubscribed to scan_topic: /scan_merged + 13.85sINFOamclCreated reinitialize_global_localization service + 13.86sINFOamclCreated request_nomotion_update service + 13.86sINFOamclA new map was received + 13.86sINFOamclInitializing particle filter instance + 13.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.93sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.492281 seconds + 13.93sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.93sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.93sINFOmove_groupLoaded robot model in 0.492281 seconds[0m ×2 + 13.93sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.93sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.94sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.98sINFObt_navigatorCreating + 13.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.05sINFOwaypoint_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. + 14.07sINFOwaypoint_followerCreating + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.13sINFOvelocity_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. + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.18sINFOlifecycle_manager_navigationCreating + 14.21sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.23sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.23sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.23sINFOcontroller_serverConfiguring controller interface + 14.23sINFOcontroller_servergetting progress checker plugins.. + 14.24sINFOcontroller_servergetting goal checker plugins.. + 14.24sINFOcontroller_serverController frequency set to 20.0000Hz + 14.24sINFOlocal_costmap.local_costmapConfiguring + 14.26sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.28sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.32sINFOamclParticle filter initialization completed + 14.32sINFOamclInitializing particles from estimated pose and covariance + 14.32sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.33sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.33sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.33sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.33sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.33sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.34sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.41sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.42sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.42sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621478 ms (missed cycles : 6). + 14.43sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.43sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621478 ms (missed cycles : 6).[0m ×2 + 14.45sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.48sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.50sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.50sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.52sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.52sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.53sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.53sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.54sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.54sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.55sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.55sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.57sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.58sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.58sWARNmove_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. + 14.58sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.58sWARNmove_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. + 14.58sWARNmove_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. + 14.58sWARNmove_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.[0m ×2 + 14.58sWARNmove_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.[0m ×2 + 14.58sWARNmove_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. + 14.58sWARNmove_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.[0m ×2 + 14.58sWARNmove_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.[0m ×2 + 14.58sWARNmove_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. + 14.58sWARNmove_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. + 14.58sWARNmove_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. + 14.58sWARNmove_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. + 14.58sWARNmove_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. + 14.58sWARNmove_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. + 14.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.59sWARNmove_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.[0m ×2 + 14.59sWARNmove_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.[0m ×2 + 14.59sWARNmove_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.[0m ×2 + 14.62sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.62sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.62sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.62sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.62sINFOcontroller_serverOptimizer reset + 14.65sINFOcontroller_serverController Server has FollowPath controllers available. + 14.66sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.67sINFOsmoother_serverConfiguring smoother server + 14.68sINFOwaypoint_manager_nodeLoaded robot model in 0.468717 seconds[0m ×2 + 14.68sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.68sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.70sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.70sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.71sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.71sINFOplanner_serverConfiguring + 14.71sINFOglobal_costmap.global_costmapConfiguring + 14.73sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.74sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.74sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.74sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.76sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.80sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.80sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.80sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.86sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.86sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.87sINFOplanner_serverPlanner Server has GridBased planners available. + 14.87sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 14.89sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.89sINFObehavior_serverConfiguring + 14.90sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.91sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.91sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.92sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.93sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.93sINFObehavior_serverConfiguring spin + 14.96sINFObehavior_serverConfiguring backup + 14.98sINFOmove_group[2026-07-30 15:08:41.301] [moveit_pro_license] [info] ×2 + 14.98sINFOmove_group************************************************* ×4 + 14.98sINFOmove_group* MoveIt Pro License ×2 + 14.98sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.98sINFObehavior_serverConfiguring drive_on_heading + 14.99sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.00sINFObehavior_serverConfiguring assisted_teleop + 15.02sINFObehavior_serverConfiguring wait + 15.03sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.03sINFObt_navigatorConfiguring + 15.04sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.06sWARNbt_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 + 15.14sERRORcomponent_container_isolated-1process has died [pid 9284, exit code -8, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_8g7d_0ck --params-file /tmp/launch_params_3ow4v4q8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.36sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.36sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.36sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.36sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.36sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.36sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.36sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.36sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.36sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.36sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.36sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.37sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.37sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.37sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.37sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.37sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.37sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.37sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.37sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.37sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.37sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.37sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.38sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.45sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.45sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.45sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939011 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939011 ms (missed cycles : 2).[0m ×2 + 15.64sINFOwaypoint_manager_node[2026-07-30 15:08:41.965] [moveit_pro_license] [info] ×2 + 15.64sINFOwaypoint_manager_node************************************************* ×4 + 15.64sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 15.64sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 15.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.02sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.02sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.02sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.13sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.13sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.13sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.13sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.13sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 16.13sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.13sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.13sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.13sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.13sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.13sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.13sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.13sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.13sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.13sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.13sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.16sINFOobjective_server_node[2026-07-30 15:08:42.480] [moveit_pro_license] [info] ×2 + 16.16sINFOobjective_server_node************************************************* ×4 + 16.16sINFOobjective_server_node* MoveIt Pro License ×2 + 16.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.16sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.16sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 16.24sINFOobjective_server_nodeLoaded robot model in 0.0329596 seconds[0m ×2 + 16.24sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.24sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.26sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.26sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.27sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.38sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.38sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.38sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.38sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.39sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 16.39sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 16.41sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 16.41sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 16.42sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.42sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.42sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.42sINFOcontroller_managerSuccessfully switched controllers! ×7 + 16.42sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 16.43sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 16.43sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 16.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 16.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.50sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.50sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.50sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.50sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.50sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.50sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 16.50sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.50sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 16.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.51sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.60sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_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. + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_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. + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_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. + 16.60sWARNobjective_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. + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.66sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 16.66sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.68sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.68sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.68sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.68sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.68sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.68sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.68sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.70sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.72sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 16.72sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 16.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.84sINFOmove_groupMoveGroup debug mode is ON + 16.84sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.84sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.88sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 16.88sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 16.89sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 16.89sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 16.89sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 16.89sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 16.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 16.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 16.94sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.94sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.99sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 16.99sINFOmove_group ×8 + 16.99sINFOmove_group****************************************************** ×4 + 16.99sINFOmove_group* MoveGroup using: ×2 + 16.99sINFOmove_group* - apply_planning_scene_service ×2 + 16.99sINFOmove_group* - clear_octomap_service ×2 + 16.99sINFOmove_group* - get_group_urdf ×2 + 16.99sINFOmove_group* - load_geometry_from_file ×2 + 16.99sINFOmove_group* - get_planning_scene_service ×2 + 16.99sINFOmove_group* - kinematics_service ×2 + 16.99sINFOmove_group* - save_geometry_to_file ×2 + 16.99sINFOmove_group* - GetPlanningGroups ×2 + 16.99sINFOmove_group* - URDFPlanningSceneCapability ×2 + 16.99sINFOmove_group[0m ×2 + 17.00sINFOmove_group[92mYou can start planning now![0m ×2 + 17.37sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785424122.578 for reason 'discarding message because the queue is full' + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504602 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504602 ms (missed cycles : 3).[0m ×2 + 17.76sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.76sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.76sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.76sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.77sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 17.77sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 17.80sINFOros2-10process has finished cleanly [pid 9370] ×2 + 17.84sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.84sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.85sINFOplatform_velocity_controller_nav2configure successful + 17.85sINFOros2_control_nodeconfigure successful[0m ×6 + 18.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.23sINFOros2-14process has finished cleanly [pid 9374] ×2 + 18.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 18.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 18.37sINFOcomponent_container_mtLoaded robot model in 2.09775 seconds[0m ×2 + 18.37sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.37sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.45sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225587 ms (missed cycles : 4). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225587 ms (missed cycles : 4).[0m ×2 + 18.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNplanning_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. + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNplanning_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. + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.77sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNplanning_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. + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.78sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.85sINFOros2_control_node[2026-07-30 15:08:45.170] [info] Controller state will be published at 20 Hz. ×2 + 18.85sINFOros2_control_node[2026-07-30 15:08:45.172] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.01sINFOcomponent_container_mt[2026-07-30 15:08:45.331] [moveit_pro_license] [info] ×2 + 19.01sINFOcomponent_container_mt************************************************* ×4 + 19.01sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.01sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 19.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 19.21sINFOros2-18process has finished cleanly [pid 9378] ×2 + 19.31sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 19.31sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 19.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 19.32sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 19.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 19.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 19.32sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 19.32sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 19.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 19.32sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 19.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 19.32sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 19.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 19.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 19.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 19.34sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.34sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869895 ms (missed cycles : 2). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869895 ms (missed cycles : 2).[0m ×2 + 19.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.66sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.66sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.66sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.67sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 19.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 19.70sINFOros2-15process has finished cleanly [pid 9375] ×2 + 19.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.76sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.76sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.77sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.77sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.88sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785424125.078 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.98sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 5.043ms + 20.08sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.08sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.08sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.08sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.11sINFOros2-11process has finished cleanly [pid 9371] ×2 + 20.15sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 20.15sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 20.22sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.22sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.22sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.23sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020157 ms (missed cycles : 2). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020157 ms (missed cycles : 2).[0m ×2 + 20.61sINFOros2_control_node[2026-07-30 15:08:46.931] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.61sINFOros2_control_node[2026-07-30 15:08:46.934] [info] Controller state will be published at 10 Hz. ×2 + 20.61sINFOros2_control_node[2026-07-30 15:08:46.935] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.98sINFOros2-17process has finished cleanly [pid 9377] ×2 + 21.00sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 21.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.01sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.01sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 21.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 21.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.04sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.04sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.04sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.04sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.04sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.05sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.05sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 21.55sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.55sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.55sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 21.55sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.55sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.55sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 21.57sINFOros2-13process has finished cleanly [pid 9373] ×2 + 21.61sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.61sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818447 ms (missed cycles : 3). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818447 ms (missed cycles : 3).[0m ×2 + 21.63sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.63sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.63sINFOplatform_velocity_controllerconfigure successful + 21.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.64sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.64sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 21.98sINFOros2-12process has finished cleanly [pid 9372] ×2 + 21.99sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.00sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 22.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 22.02sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.02sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.02sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.02sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.39sINFOros2_control_node[2026-07-30 15:08:48.714] [info] Controller state will be published at 20 Hz. ×2 + 22.39sINFOros2_control_node[2026-07-30 15:08:48.715] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623657 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623657 ms (missed cycles : 2).[0m ×2 + 22.73sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.73sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.73sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.73sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 22.73sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.73sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 22.77sINFOros2-19process has finished cleanly [pid 9379] ×2 + 22.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 23.19sINFOros2_control_node[2026-07-30 15:08:49.509] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.19sINFOros2_control_node[2026-07-30 15:08:49.512] [info] Controller state will be published at 10 Hz. ×2 + 23.19sINFOros2_control_node[2026-07-30 15:08:49.514] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 23.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 23.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 23.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 23.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr + 23.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1f43e4c2 --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_uzlobck6 --params-file /tmp/launch_params_fl0_pegr [0m ×2 + 23.56sINFOros2-16process has finished cleanly [pid 9376] ×2 + 23.63sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.65sINFOforce_torque_sensor_broadcasterconfigure successful + 23.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935730 ms (missed cycles : 2). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935730 ms (missed cycles : 2).[0m ×2 + 23.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.99sINFOros2-9process has finished cleanly [pid 9369] ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470012 ms (missed cycles : 4). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470012 ms (missed cycles : 4).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 26.17sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 29.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.02sINFOmove_groupClearing octomap...[0m ×2 + 29.02sINFOmove_groupOctomap cleared.[0m ×2 + 29.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 29.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 30.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 30.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.90sINFOobjective_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 + 30.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 30.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 30.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 30.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 30.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 30.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	70.7s	3 errors · 234 warnings · 209 info
+ 0.00sINFOamclParticle filter update iteration stats: 3689 particles 723 points - 5.476ms + 0.50sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 3.441ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245978 ms (missed cycles : 4). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245978 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 6.444ms + 1.50sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 1.966ms + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004013 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004013 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.055ms + 2.50sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.503ms + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943105 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943105 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666855 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666855 ms (missed cycles : 6).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 4.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOjoint_trajectory_controllerGot request to cancel goal + 4.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.14sERRORobjective_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: 1785424343.54812336 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.384ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.800ms + 4.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785424344.09911156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010667 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010667 ms (missed cycles : 5).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.237ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.632ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.772ms + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966281 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966281 ms (missed cycles : 5).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.818ms + 6.23sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.168ms + 6.70sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 6.444ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985685 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985685 ms (missed cycles : 2).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 3440 particles 723 points - 4.142ms + 7.40sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 3.014ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116068 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116068 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012372 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012372 ms (missed cycles : 4).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 2.136ms + 9.69sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.516ms + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632700 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632700 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639604 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639604 ms (missed cycles : 4).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115053 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115053 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498908 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498908 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800073 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800073 ms (missed cycles : 4).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.207821 ms (missed cycles : 7). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.207821 ms (missed cycles : 7).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149567 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149567 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms ×3 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117129 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117129 ms (missed cycles : 5).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028767 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028767 ms (missed cycles : 2).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547495 ms (missed cycles : 4). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547495 ms (missed cycles : 4).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944224 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944224 ms (missed cycles : 2).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.220405 ms (missed cycles : 4). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.220405 ms (missed cycles : 4).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865927 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865927 ms (missed cycles : 2).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619745 ms (missed cycles : 3). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619745 ms (missed cycles : 3).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035405 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035405 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432314 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432314 ms (missed cycles : 2).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986328 ms (missed cycles : 2). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986328 ms (missed cycles : 2).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859891 ms (missed cycles : 3). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859891 ms (missed cycles : 3).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897949 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897949 ms (missed cycles : 2).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002308 ms (missed cycles : 3). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002308 ms (missed cycles : 3).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932192 ms (missed cycles : 2). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932192 ms (missed cycles : 2).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601803 ms (missed cycles : 6). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601803 ms (missed cycles : 6).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836496 ms (missed cycles : 2). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836496 ms (missed cycles : 2).[0m ×2 + 33.11sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.59sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.59sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666759 ms (missed cycles : 6). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666759 ms (missed cycles : 6).[0m ×2 + 33.90sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 34.57sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775524 ms (missed cycles : 2). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775524 ms (missed cycles : 2).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915453 ms (missed cycles : 5). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915453 ms (missed cycles : 5).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745738 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745738 ms (missed cycles : 3).[0m ×2 + 36.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889339 ms (missed cycles : 2). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889339 ms (missed cycles : 2).[0m ×2 + 37.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 38.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607898 ms (missed cycles : 3). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607898 ms (missed cycles : 3).[0m ×2 + 39.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867627 ms (missed cycles : 3). + 39.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867627 ms (missed cycles : 3).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155793 ms (missed cycles : 3). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155793 ms (missed cycles : 3).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911574 ms (missed cycles : 3). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911574 ms (missed cycles : 3).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653802 ms (missed cycles : 4). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653802 ms (missed cycles : 4).[0m ×2 + 43.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879462 ms (missed cycles : 3). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879462 ms (missed cycles : 3).[0m ×2 + 44.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289394 ms (missed cycles : 6). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289394 ms (missed cycles : 6).[0m ×2 + 45.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242541 ms (missed cycles : 5). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242541 ms (missed cycles : 5).[0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991602 ms (missed cycles : 3). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991602 ms (missed cycles : 3).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 48.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202179 ms (missed cycles : 2). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202179 ms (missed cycles : 2).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 49.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841585 ms (missed cycles : 3). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841585 ms (missed cycles : 3).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547758 ms (missed cycles : 2). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547758 ms (missed cycles : 2).[0m ×2 + 50.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 51.08sINFOobjective_server_nodePlanning for 34 path waypoints. ×6 + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964552 ms (missed cycles : 3). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964552 ms (missed cycles : 3).[0m ×2 + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226282 ms (missed cycles : 3). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226282 ms (missed cycles : 3).[0m ×2 + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437958 ms (missed cycles : 3). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437958 ms (missed cycles : 3).[0m ×2 + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863721 ms (missed cycles : 3). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863721 ms (missed cycles : 3).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383791 ms (missed cycles : 7). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383791 ms (missed cycles : 7).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 56.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085084 ms (missed cycles : 3). + 56.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085084 ms (missed cycles : 3).[0m ×2 + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828177 ms (missed cycles : 3). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828177 ms (missed cycles : 3).[0m ×2 + 58.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888329 ms (missed cycles : 2). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888329 ms (missed cycles : 2).[0m ×2 + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 59.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124105 ms (missed cycles : 2). + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124105 ms (missed cycles : 2).[0m ×2 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.779ms + 60.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2). + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939215 ms (missed cycles : 2).[0m ×2 + 61.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 61.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161114 ms (missed cycles : 2). + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161114 ms (missed cycles : 2).[0m ×2 + 62.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815070 ms (missed cycles : 6). + 62.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815070 ms (missed cycles : 6).[0m ×2 + 63.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055173 ms (missed cycles : 6). + 63.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.055173 ms (missed cycles : 6).[0m ×2 + 64.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678922 ms (missed cycles : 2). + 64.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678922 ms (missed cycles : 2).[0m ×2 + 65.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548271 ms (missed cycles : 2). + 65.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548271 ms (missed cycles : 2).[0m ×2 + 66.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 66.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996159 ms (missed cycles : 2). + 66.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996159 ms (missed cycles : 2).[0m ×2 + 67.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642339 ms (missed cycles : 4). + 67.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642339 ms (missed cycles : 4).[0m ×2 + 67.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 68.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027654 ms (missed cycles : 3). + 68.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027654 ms (missed cycles : 3).[0m ×2 + 69.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 69.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101986 ms (missed cycles : 5). + 69.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101986 ms (missed cycles : 5).[0m ×2 + 69.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 70.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323672 ms (missed cycles : 2). + 70.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323672 ms (missed cycles : 2).[0m ×2 + 71.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899458 ms (missed cycles : 2). + 71.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899458 ms (missed cycles : 2).[0m ×2 + 72.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 73.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.453910 ms (missed cycles : 7). + 73.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.453910 ms (missed cycles : 7).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 74.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923359 ms (missed cycles : 2). + 74.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923359 ms (missed cycles : 2).[0m ×2 + 74.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785424414.21931505 seconds ×3 + 75.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.698ms + 75.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071688 ms (missed cycles : 2). + 75.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071688 ms (missed cycles : 2).[0m ×2 + 75.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.720ms + 75.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785424414.77505779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 75.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 76.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 76.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 76.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 77.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 77.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.8s	189 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2).[0m ×2 + 0.29sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.29sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785424180.72037959 seconds ×3 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785424181.26976299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (2.4831e-05 s). ×2 + 1.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.82sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.82sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.82sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.82sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785424184.34991860 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235033 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235033 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785424184.90898800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591156 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591156 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699790 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699790 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638899 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638899 ms (missed cycles : 3).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643080 ms (missed cycles : 5). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643080 ms (missed cycles : 5).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 2.085ms + 9.08sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 1.733ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808588 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808588 ms (missed cycles : 2).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.535ms + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992535 ms (missed cycles : 3). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992535 ms (missed cycles : 3).[0m ×2 + 10.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851990 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851990 ms (missed cycles : 3).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 12.07sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293884 ms (missed cycles : 4). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293884 ms (missed cycles : 4).[0m ×2 + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 13.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578846 ms (missed cycles : 3). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578846 ms (missed cycles : 3).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 14.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747261 ms (missed cycles : 6). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747261 ms (missed cycles : 6).[0m ×2 + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026284 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026284 ms (missed cycles : 2).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008494 ms (missed cycles : 4).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 17.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701341 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701341 ms (missed cycles : 2).[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607247 ms (missed cycles : 5). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607247 ms (missed cycles : 5).[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579351 ms (missed cycles : 3). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579351 ms (missed cycles : 3).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 20.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 20.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667267 ms (missed cycles : 6). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667267 ms (missed cycles : 6).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171467 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171467 ms (missed cycles : 2).[0m ×2 + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 22.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778700 ms (missed cycles : 3). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778700 ms (missed cycles : 3).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942774 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942774 ms (missed cycles : 2).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927205 ms (missed cycles : 5). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927205 ms (missed cycles : 5).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.763ms + 25.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.741ms + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632087 ms (missed cycles : 3). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632087 ms (missed cycles : 3).[0m ×2 + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374863 ms (missed cycles : 4). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374863 ms (missed cycles : 4).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601163 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601163 ms (missed cycles : 3).[0m ×2 + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755976 ms (missed cycles : 3). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755976 ms (missed cycles : 3).[0m ×2 + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.864907 ms (missed cycles : 7). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.864907 ms (missed cycles : 7).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318198 ms (missed cycles : 4). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318198 ms (missed cycles : 4).[0m ×2 + 31.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 56.966882 ms (missed cycles : 35). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 56.966882 ms (missed cycles : 35).[0m ×2 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.220ms + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837251 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837251 ms (missed cycles : 2).[0m ×2 + 33.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 33.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496307 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496307 ms (missed cycles : 3).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713498 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713498 ms (missed cycles : 2).[0m ×2 + 35.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187345 ms (missed cycles : 2). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187345 ms (missed cycles : 2).[0m ×2 + 36.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030701 ms (missed cycles : 3). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030701 ms (missed cycles : 3).[0m ×2 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948878 ms (missed cycles : 2). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948878 ms (missed cycles : 2).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549519 ms (missed cycles : 3). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549519 ms (missed cycles : 3).[0m ×2 + 39.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307927 ms (missed cycles : 2). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307927 ms (missed cycles : 2).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723600 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723600 ms (missed cycles : 2).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455239 ms (missed cycles : 3). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455239 ms (missed cycles : 3).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665103 ms (missed cycles : 3). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665103 ms (missed cycles : 3).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.701784 ms (missed cycles : 6). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.701784 ms (missed cycles : 6).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012877 ms (missed cycles : 2). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012877 ms (missed cycles : 2).[0m ×2 + 45.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337440 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337440 ms (missed cycles : 3).[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548828 ms (missed cycles : 2). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548828 ms (missed cycles : 2).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561642 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561642 ms (missed cycles : 3).[0m ×2 + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949148 ms (missed cycles : 6). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.949148 ms (missed cycles : 6).[0m ×2 + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963999 ms (missed cycles : 3). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963999 ms (missed cycles : 3).[0m ×2 + 51.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621639 ms (missed cycles : 6). + 51.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621639 ms (missed cycles : 6).[0m ×2 + 52.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 52.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133199 ms (missed cycles : 2). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133199 ms (missed cycles : 2).[0m ×2 + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208219 ms (missed cycles : 5). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208219 ms (missed cycles : 5).[0m ×2 + 54.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939547 ms (missed cycles : 2). + 54.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939547 ms (missed cycles : 2).[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988271 ms (missed cycles : 3). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988271 ms (missed cycles : 3).[0m ×2 + 55.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 57.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 57.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 59.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 60.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 60.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 60.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 61.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 61.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 61.64sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 61.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 62.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 62.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 63.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 63.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.6s	186 warnings · 143 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780166 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780166 ms (missed cycles : 3).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.634ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507978 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507978 ms (missed cycles : 2).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.591ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290666 ms (missed cycles : 7). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.290666 ms (missed cycles : 7).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.199ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.761ms + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.623ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907886 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907886 ms (missed cycles : 2).[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 4270 particles 723 points - 5.430ms + 11.78sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 4.727ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930532 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930532 ms (missed cycles : 3).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 4.060ms + 12.79sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.771ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454936 ms (missed cycles : 5). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454936 ms (missed cycles : 5).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 2.027ms + 13.79sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.462ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564635 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564635 ms (missed cycles : 2).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808594 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808594 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424961 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424961 ms (missed cycles : 4).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200124 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200124 ms (missed cycles : 2).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 17.50sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751297 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751297 ms (missed cycles : 3).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710452 ms (missed cycles : 2). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710452 ms (missed cycles : 2).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435689 ms (missed cycles : 3). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435689 ms (missed cycles : 3).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623794 ms (missed cycles : 3). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623794 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181452 ms (missed cycles : 2). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181452 ms (missed cycles : 2).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882699 ms (missed cycles : 2). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882699 ms (missed cycles : 2).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202831 ms (missed cycles : 5). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202831 ms (missed cycles : 5).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.227461 ms (missed cycles : 6). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.227461 ms (missed cycles : 6).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992604 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992604 ms (missed cycles : 2).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522834 ms (missed cycles : 4). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522834 ms (missed cycles : 4).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.773ms ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219059 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219059 ms (missed cycles : 3).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893708 ms (missed cycles : 2). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893708 ms (missed cycles : 2).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894814 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894814 ms (missed cycles : 2).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988210 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988210 ms (missed cycles : 2).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679067 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679067 ms (missed cycles : 2).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072749 ms (missed cycles : 2). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072749 ms (missed cycles : 2).[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281369 ms (missed cycles : 2). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281369 ms (missed cycles : 2).[0m ×2 + 34.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 35.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.01sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670626 ms (missed cycles : 2). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670626 ms (missed cycles : 2).[0m ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041888 ms (missed cycles : 2). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041888 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034066 ms (missed cycles : 5). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034066 ms (missed cycles : 5).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849525 ms (missed cycles : 2). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849525 ms (missed cycles : 2).[0m ×2 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891633 ms (missed cycles : 2). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891633 ms (missed cycles : 2).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935369 ms (missed cycles : 3). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935369 ms (missed cycles : 3).[0m ×2 + 41.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050098 ms (missed cycles : 5). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050098 ms (missed cycles : 5).[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329449 ms (missed cycles : 2). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329449 ms (missed cycles : 2).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956551 ms (missed cycles : 3). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956551 ms (missed cycles : 3).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067072 ms (missed cycles : 4). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067072 ms (missed cycles : 4).[0m ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782991 ms (missed cycles : 2). + 46.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782991 ms (missed cycles : 2).[0m ×2 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089302 ms (missed cycles : 3). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089302 ms (missed cycles : 3).[0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182772 ms (missed cycles : 4). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182772 ms (missed cycles : 4).[0m ×2 + 49.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135166 ms (missed cycles : 3). + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135166 ms (missed cycles : 3).[0m ×2 + 49.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081387 ms (missed cycles : 2). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081387 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754248 ms (missed cycles : 3). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754248 ms (missed cycles : 3).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338365 ms (missed cycles : 4). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338365 ms (missed cycles : 4).[0m ×2 + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759565 ms (missed cycles : 2). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759565 ms (missed cycles : 2).[0m ×2 + 54.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958038 ms (missed cycles : 2). + 54.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958038 ms (missed cycles : 2).[0m ×2 + 55.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447773 ms (missed cycles : 4). + 55.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447773 ms (missed cycles : 4).[0m ×2 + 56.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872950 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872950 ms (missed cycles : 2).[0m ×2 + 57.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424897 ms (missed cycles : 3). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424897 ms (missed cycles : 3).[0m ×2 + 58.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467791 ms (missed cycles : 2). + 58.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467791 ms (missed cycles : 2).[0m ×2 + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373212 ms (missed cycles : 6). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373212 ms (missed cycles : 6).[0m ×2 + 60.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632448 ms (missed cycles : 6). + 60.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632448 ms (missed cycles : 6).[0m ×2 + 60.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785424475.68781114 seconds ×3 + 60.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.903ms + 61.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.014ms + 61.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785424476.25095892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.428ms + 61.57sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 61.59sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704787 ms (missed cycles : 2). + 61.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704787 ms (missed cycles : 2).[0m ×2 + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754908 ms (missed cycles : 5). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754908 ms (missed cycles : 5).[0m ×2 + 63.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.002ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.0s	180 warnings · 168 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785424277.62372041 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.664ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785424278.18057513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.411ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 6.33sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.33sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.271758 ms (missed cycles : 7). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.271758 ms (missed cycles : 7).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.416ms + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.862ms + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347578 ms (missed cycles : 6). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347578 ms (missed cycles : 6).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549737 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549737 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.606ms + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941723 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941723 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.410ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.474ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313443 ms (missed cycles : 4). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313443 ms (missed cycles : 4).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.926ms + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.144ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134925 ms (missed cycles : 3). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134925 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.576ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269384 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269384 ms (missed cycles : 2).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 6.018ms + 13.90sINFOamclParticle filter update iteration stats: 4580 particles 723 points - 6.047ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279635 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279635 ms (missed cycles : 2).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 4642 particles 723 points - 5.034ms + 14.90sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 6.642ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945593 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945593 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 4911 particles 723 points - 5.449ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.822ms + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843091 ms (missed cycles : 6). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843091 ms (missed cycles : 6).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.384ms + 16.90sINFOamclParticle filter update iteration stats: 4539 particles 723 points - 5.078ms + 17.40sINFOamclParticle filter update iteration stats: 3824 particles 723 points - 4.087ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805549 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805549 ms (missed cycles : 3).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 2961 particles 723 points - 3.618ms + 18.40sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.090ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969531 ms (missed cycles : 3). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969531 ms (missed cycles : 3).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 1.989ms + 19.40sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.307ms + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272167 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272167 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394905 ms (missed cycles : 3). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394905 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849207 ms (missed cycles : 3). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849207 ms (missed cycles : 3).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744388 ms (missed cycles : 3). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744388 ms (missed cycles : 3).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419718 ms (missed cycles : 4). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419718 ms (missed cycles : 4).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304430 ms (missed cycles : 4). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304430 ms (missed cycles : 4).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.346535 ms (missed cycles : 9). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.346535 ms (missed cycles : 9).[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701285 ms (missed cycles : 2). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701285 ms (missed cycles : 2).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224730 ms (missed cycles : 5). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224730 ms (missed cycles : 5).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933123 ms (missed cycles : 3). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933123 ms (missed cycles : 3).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681318 ms (missed cycles : 4). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681318 ms (missed cycles : 4).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219504 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219504 ms (missed cycles : 3).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508106 ms (missed cycles : 4). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508106 ms (missed cycles : 4).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889533 ms (missed cycles : 3). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889533 ms (missed cycles : 3).[0m ×2 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.423593 ms (missed cycles : 7). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.423593 ms (missed cycles : 7).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482923 ms (missed cycles : 5). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482923 ms (missed cycles : 5).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278019 ms (missed cycles : 7). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278019 ms (missed cycles : 7).[0m ×2 + 36.86sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505827 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505827 ms (missed cycles : 2).[0m ×2 + 37.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 37.56sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 38.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408475 ms (missed cycles : 4). + 38.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408475 ms (missed cycles : 4).[0m ×2 + 38.80sINFOros2_control_nodeMuJoCo sim: 0.75% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 39.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146068 ms (missed cycles : 3). + 39.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146068 ms (missed cycles : 3).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290993 ms (missed cycles : 3). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290993 ms (missed cycles : 3).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379466 ms (missed cycles : 2). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379466 ms (missed cycles : 2).[0m ×2 + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976618 ms (missed cycles : 2). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976618 ms (missed cycles : 2).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156051 ms (missed cycles : 4). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156051 ms (missed cycles : 4).[0m ×2 + 44.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499205 ms (missed cycles : 4). + 44.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499205 ms (missed cycles : 4).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691493 ms (missed cycles : 2). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691493 ms (missed cycles : 2).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.984ms + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412575 ms (missed cycles : 3). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412575 ms (missed cycles : 3).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735622 ms (missed cycles : 2). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735622 ms (missed cycles : 2).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262037 ms (missed cycles : 3). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262037 ms (missed cycles : 3).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695827 ms (missed cycles : 2). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695827 ms (missed cycles : 2).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786673 ms (missed cycles : 3). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786673 ms (missed cycles : 3).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 51.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190642 ms (missed cycles : 2). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190642 ms (missed cycles : 2).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132588 ms (missed cycles : 4). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132588 ms (missed cycles : 4).[0m ×2 + 53.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 53.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059329 ms (missed cycles : 2). + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059329 ms (missed cycles : 2).[0m ×2 + 54.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058051 ms (missed cycles : 5). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058051 ms (missed cycles : 5).[0m ×2 + 55.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396344 ms (missed cycles : 3). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396344 ms (missed cycles : 3).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 57.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.342885 ms (missed cycles : 10). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.342885 ms (missed cycles : 10).[0m ×2 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100105 ms (missed cycles : 3). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100105 ms (missed cycles : 3).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 58.93sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785424332.63072801 seconds ×3 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557729 ms (missed cycles : 2). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557729 ms (missed cycles : 2).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.633ms + 59.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 59.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785424333.19304252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.062ms + 59.86sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 60.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.119ms + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855656 ms (missed cycles : 3). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855656 ms (missed cycles : 3).[0m ×2 + 60.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.164ms + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.857ms + 60.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.834ms + 61.09sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 61.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097620 ms (missed cycles : 2). + 61.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097620 ms (missed cycles : 2).[0m ×2 + 61.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 61.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.057ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.4s	153 warnings · 140 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719209 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719209 ms (missed cycles : 3).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958315 ms (missed cycles : 5). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958315 ms (missed cycles : 5).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303730 ms (missed cycles : 4). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303730 ms (missed cycles : 4).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766005 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766005 ms (missed cycles : 2).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244298 ms (missed cycles : 4). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244298 ms (missed cycles : 4).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090853 ms (missed cycles : 5). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090853 ms (missed cycles : 5).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235090 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235090 ms (missed cycles : 2).[0m ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445684 ms (missed cycles : 5). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445684 ms (missed cycles : 5).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969366 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969366 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.366369 ms (missed cycles : 7). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.366369 ms (missed cycles : 7).[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792973 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792973 ms (missed cycles : 2).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687220 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687220 ms (missed cycles : 3).[0m ×2 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212322 ms (missed cycles : 3). + 19.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212322 ms (missed cycles : 3).[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986915 ms (missed cycles : 2). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986915 ms (missed cycles : 2).[0m ×2 + 20.61sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 2.020ms + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017678 ms (missed cycles : 5). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017678 ms (missed cycles : 5).[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775182 ms (missed cycles : 2). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775182 ms (missed cycles : 2).[0m ×2 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240867 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240867 ms (missed cycles : 2).[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122170 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122170 ms (missed cycles : 2).[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717264 ms (missed cycles : 5). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717264 ms (missed cycles : 5).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396767 ms (missed cycles : 4). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396767 ms (missed cycles : 4).[0m ×2 + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304407 ms (missed cycles : 2). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304407 ms (missed cycles : 2).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867895 ms (missed cycles : 2). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867895 ms (missed cycles : 2).[0m ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214518 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214518 ms (missed cycles : 2).[0m ×2 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.293358 ms (missed cycles : 7). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.293358 ms (missed cycles : 7).[0m ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439413 ms (missed cycles : 2). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439413 ms (missed cycles : 2).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694980 ms (missed cycles : 3). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694980 ms (missed cycles : 3).[0m ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085773 ms (missed cycles : 4). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085773 ms (missed cycles : 4).[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145777 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145777 ms (missed cycles : 2).[0m ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696477 ms (missed cycles : 2). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696477 ms (missed cycles : 2).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540499 ms (missed cycles : 3). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540499 ms (missed cycles : 3).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784065 ms (missed cycles : 3). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784065 ms (missed cycles : 3).[0m ×2 + 38.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969278 ms (missed cycles : 5). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969278 ms (missed cycles : 5).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855279 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855279 ms (missed cycles : 2).[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277306 ms (missed cycles : 4). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277306 ms (missed cycles : 4).[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682134 ms (missed cycles : 2). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682134 ms (missed cycles : 2).[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268254 ms (missed cycles : 3). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268254 ms (missed cycles : 3).[0m ×2 + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3). + 44.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3).[0m ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4).[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2).[0m ×2 + 47.52sINFOjoint_trajectory_controllerGoal reached, success! + 47.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785424180.72037959 seconds ×3 + 48.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785424181.26976299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2).[0m ×2 + 49.03sINFOobjective_server_nodeFound path in 0 iterations (2.4831e-05 s). ×2 + 49.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2).[0m ×2 + 50.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2). + 50.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.9s	108 warnings · 122 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.872ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693357 ms (missed cycles : 3). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693357 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309860 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309860 ms (missed cycles : 3).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.64sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.66sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785424245.76324725 seconds ×3 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363394 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363394 ms (missed cycles : 4).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785424247.32354736 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 ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.341458 ms (missed cycles : 7). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.341458 ms (missed cycles : 7).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766773 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766773 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.281786 ms (missed cycles : 7). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.281786 ms (missed cycles : 7).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798511 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798511 ms (missed cycles : 5).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.125ms + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527766 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527766 ms (missed cycles : 4).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.307ms + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 9.39sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349349 ms (missed cycles : 4). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349349 ms (missed cycles : 4).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.323ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.462ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315739 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315739 ms (missed cycles : 4).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.006ms + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.062ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706939 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706939 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.373ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.842ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740649 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740649 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.252ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.131ms + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208118 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208118 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.141ms + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.032ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762442 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762442 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.660ms + 15.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101024 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101024 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.971ms + 16.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.988ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513602 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513602 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.461ms + 17.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.626ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.651836 ms (missed cycles : 6). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.651836 ms (missed cycles : 6).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.478ms + 18.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.827ms + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707367 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707367 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.905ms + 19.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.631ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866361 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866361 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.908ms + 20.60sINFOamclParticle filter update iteration stats: 4838 particles 723 points - 5.685ms + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250991 ms (missed cycles : 4). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250991 ms (missed cycles : 4).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 4838 particles 723 points - 5.193ms + 21.60sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 5.982ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640750 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640750 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 5.926ms + 22.60sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 4.911ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341204 ms (missed cycles : 4). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341204 ms (missed cycles : 4).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 4704 particles 723 points - 6.288ms + 23.61sINFOamclParticle filter update iteration stats: 3918 particles 723 points - 6.361ms + 24.10sINFOamclParticle filter update iteration stats: 3772 particles 723 points - 4.252ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.171632 ms (missed cycles : 7). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.171632 ms (missed cycles : 7).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 3284 particles 723 points - 3.682ms + 25.10sINFOamclParticle filter update iteration stats: 2596 particles 723 points - 3.112ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315659 ms (missed cycles : 4). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315659 ms (missed cycles : 4).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.289ms + 26.09sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 2.337ms + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565532 ms (missed cycles : 6). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565532 ms (missed cycles : 6).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.300ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232037 ms (missed cycles : 3). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232037 ms (missed cycles : 3).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600587 ms (missed cycles : 4). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600587 ms (missed cycles : 4).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.753ms + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995090 ms (missed cycles : 3). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995090 ms (missed cycles : 3).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3).[0m ×2 + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 34.52sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785424277.62372041 seconds ×3 + 34.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.664ms + 35.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms ×2 + 35.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785424278.18057513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3).[0m ×2 + 35.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 35.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 36.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 36.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.411ms + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2).[0m ×2 + 36.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.1s	60 warnings · 132 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872950 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424897 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424897 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467791 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467791 ms (missed cycles : 2).[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373212 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373212 ms (missed cycles : 6).[0m ×2 + 4.13sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632448 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632448 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785424475.68781114 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.903ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.014ms + 4.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785424476.25095892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.428ms + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704787 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704787 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754908 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754908 ms (missed cycles : 5).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.002ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908189 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908189 ms (missed cycles : 3).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.885ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175052 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175052 ms (missed cycles : 5).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871532 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871532 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×6 + 9.43sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.55sINFOobjective_server_nodeFound path in 0 iterations (1.07e-06 s). ×2 + 9.69sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.94sINFOobjective_server_nodeFound path in 31 iterations (0.021133 s). ×2 + 10.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X______X] ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425027 ms (missed cycles : 4). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.425027 ms (missed cycles : 4).[0m ×2 + 10.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883893 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883893 ms (missed cycles : 3).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073692 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073692 ms (missed cycles : 2).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.099ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359459 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359459 ms (missed cycles : 3).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.319ms + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766793 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766793 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.753ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.703ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2).[0m ×2 + 17.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785424488.79761767 seconds ×3 + 17.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.985ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms + 17.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424489.38849783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.88sINFOmove_groupClearing octomap...[0m ×2 + 17.88sINFOmove_groupOctomap cleared.[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 18.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.470ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 19.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424490.57865262 seconds ×3 + 19.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.699ms + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 19.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.510ms + 19.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424491.12255955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 20.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424491.59271765 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	87 errors · 33 warnings · 387 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.703ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2).[0m ×2 + 1.86sINFOjoint_trajectory_controllerGoal reached, success! + 1.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785424488.79761767 seconds ×3 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.985ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms + 2.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424489.38849783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.49sINFOmove_groupOctomap cleared.[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.470ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424490.57865262 seconds ×3 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.699ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.510ms + 4.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424491.12255955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424491.59271765 seconds ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.460ms + 4.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.117ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010521 ms (missed cycles : 3). + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.175ms + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010521 ms (missed cycles : 3).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.94% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762239 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762239 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414964 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414964 ms (missed cycles : 4).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030828 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030828 ms (missed cycles : 5).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886364 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886364 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976537 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976537 ms (missed cycles : 2).[0m ×2 + 10.99sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 11.09sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORweb_video_auth_proxy-34process has died [pid 9414, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.09sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 11.14sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORweb_bridge_auth_proxy-33process has died [pid 9413, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.15sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 11.17sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.19sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.21sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.23sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.25sINFOvideo_server-32process has finished cleanly [pid 9412] ×2 + 11.26sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.28sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.31sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.33sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.36sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.39sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.41sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.43sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9411] ×2 + 11.44sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.47sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.47sINFOcontroller_managerShutdown request received.... + 11.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.48sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.48sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.48sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.48sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.48sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.48sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.48sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.48sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.48sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.48sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.48sINFOcontroller_managerShutting down the controller manager. + 11.50sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.52sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.53sERRORui_teleop_bridge-29process has died [pid 9409, 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_cb5h2t9r']. ×2 + 11.53sERRORmove_group-20process has died [pid 9380, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_z_bhf9sg --params-file /tmp/launch_params_bv4kui8s --params-file /tmp/launch_params_k7jj0ao5 --params-file /tmp/launch_params_jjb9djwx --params-file /tmp/launch_params_o8k4kk4q --params-file /tmp/launch_params_57m3c2my']. ×2 + 11.55sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.55sINFOcomponent_container_mt-27process has finished cleanly [pid 9407] ×2 + 11.57sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.57sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 11.57sINFOexecute_objective_bridge-28process has finished cleanly [pid 9408] ×2 + 11.59sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.61sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.61sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.61sINFOmap_serverDeactivating + 11.61sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.62sINFOvideo_server2026/07/30 15:14:58 INF shutting down gracefully ×2 + 11.62sERRORobjective_server_node_main-25process has died [pid 9405, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_hwd4zfup --params-file /tmp/launch_params_ooguuk_8 --params-file /tmp/launch_params_juj4oi47 --params-file /tmp/launch_params_e6qg4pbt --params-file /tmp/launch_params_w5ox3de8 --params-file /tmp/launch_params_35gihsld --params-file /tmp/launch_params_rgfv0u4h --params-file /tmp/launch_params_wm2dptlj --params-file /tmp/launch_params_72q94iog']. ×2 + 11.62sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sINFOvideo_server2026/07/30 15:14:58 INF [WebRTC] closing ×2 + 11.62sINFOvideo_server2026/07/30 15:14:58 INF [RTSP] closing ×2 + 11.62sINFOvideo_server2026/07/30 15:14:58 INF waiting for running hooks ×2 + 11.62sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.62sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.62sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.62sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.62sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.62sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.62sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.62sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.62sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.62sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.62sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.62sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.62sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.62sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.62sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.62sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sINFOmap_serverCleaning up + 11.62sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.62sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.62sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.63sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.63sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.63sERRORmove_groupStack trace (most recent call last) in thread 9983: ×2 + 11.63sINFOobjective_server_node[2026-07-30 15:14:58.349] [moveit_pro_license] [info] ×2 + 11.63sINFOobjective_server_node************************************************* ×4 + 11.63sINFOobjective_server_node* MoveIt Pro License ×2 + 11.63sINFOobjective_server_node* Application has successfully terminated ×2 + 11.63sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.63sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b7441ea63, in __clone ×2 + 11.63sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b74391aa3, in ×2 + 11.63sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b74623db3, in ×2 + 11.63sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8b74d66ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.63sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b749964d0, in rclcpp::Rate::sleep() ×2 + 11.63sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b748e9a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.63sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b748aea71, in ×2 + 11.63sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b745f2390, in __cxa_throw ×2 + 11.63sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b745dca54, in std::terminate() ×2 + 11.63sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b745f20d9, in ×2 + 11.63sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b745dcff4, in ×2 + 11.63sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b7431d8fe, in abort ×2 + 11.63sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b7433a27d, in raise ×2 + 11.63sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b74393b2c, in pthread_kill ×2 + 11.63sERRORmove_groupAborted (Signal sent by tkill() 9380 0) ×2 + 11.63sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.63sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.63sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.63sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.63sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.63sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.63sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.64sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.64sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.64sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.64sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558e2718b6a4, in _start ×2 + 11.64sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c5685f28a, in __libc_start_main ×2 + 11.64sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c5685f1d0, in ×2 + 11.64sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c5687cbbd, in exit ×2 + 11.64sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c5687ca75, in ×2 + 11.64sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f8c56d4b8f5, in spdlog::details::registry::~registry() ×2 + 11.64sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558e2718bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.64sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558e27192315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.64sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558e271915a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.64sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558e2718db7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.64sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x558e2718bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.64sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c57405454, in rclcpp::Node::~Node() ×2 + 11.64sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c573c0515, in ×2 + 11.64sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c57403d20, in ×2 + 11.64sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c57403c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.64sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c573c05d9, in ×2 + 11.64sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c573c5161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.64sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f8c0bff0030]) ×2 + 11.64sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.64sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.64sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.64sINFOodom_qos_relay.pymain() ×2 + 11.64sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.64sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.64sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.64sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.64sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.64sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.64sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.64sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.64sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.64sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.64sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.64sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.64sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.64sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.64sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.64sERRORamclThe bond connection to the lifecycle manager has been broken + 11.64sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.65sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.69sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.69sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.69sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.84sERRORcomponent_container_isolated-2process has died [pid 9285, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_8g7d_0ck --params-file /tmp/launch_params_w6gokmp8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.39sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9404] ×2 + 12.41sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9383] ×2 + 12.48sINFOparameter_manager_node-21process has finished cleanly [pid 9381] ×2 + 12.50sINFOwaypoint_manager_node-22process has finished cleanly [pid 9382] ×2 + 12.52sINFOcomponent_container_mt-26process has finished cleanly [pid 9406] ×2 + 12.54sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9290] ×2 + 12.56sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9289] ×2 + 12.61sINFOstatic_transform_publisher-4process has finished cleanly [pid 9287] ×2 + 12.63sINFOstatic_transform_publisher-3process has finished cleanly [pid 9286] ×2 + 12.64sERRORodom_qos_relay.py-5process has died [pid 9288, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.96sINFOweb_bridge-30process has finished cleanly [pid 9410] ×2 + 13.96sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.29sINFOros2_control_node-8process has finished cleanly [pid 9291] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 54 warnings · 96 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058051 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058051 ms (missed cycles : 5).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396344 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396344 ms (missed cycles : 3).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.342885 ms (missed cycles : 10). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.342885 ms (missed cycles : 10).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100105 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100105 ms (missed cycles : 3).[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785424332.63072801 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557729 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557729 ms (missed cycles : 2).[0m ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.633ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 4.55sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785424333.19304252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.062ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.119ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855656 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855656 ms (missed cycles : 3).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.164ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.857ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.834ms + 6.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097620 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097620 ms (missed cycles : 2).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.057ms + 6.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.433ms + 7.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.296ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.558454 ms (missed cycles : 6). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.558454 ms (missed cycles : 6).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633428 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633428 ms (missed cycles : 3).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.044ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682344 ms (missed cycles : 5). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682344 ms (missed cycles : 5).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 4983 particles 723 points - 6.798ms + 10.25sINFOamclParticle filter update iteration stats: 4466 particles 723 points - 5.188ms + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741998 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741998 ms (missed cycles : 2).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 3689 particles 723 points - 5.476ms + 11.26sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 3.441ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245978 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245978 ms (missed cycles : 4).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 6.444ms + 12.26sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 1.966ms + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004013 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004013 ms (missed cycles : 3).[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.055ms + 13.26sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.503ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943105 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943105 ms (missed cycles : 2).[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666855 ms (missed cycles : 6). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666855 ms (missed cycles : 6).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 14.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOjoint_trajectory_controllerGot request to cancel goal + 14.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.91sERRORobjective_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: 1785424343.54812336 seconds ×3 + 15.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.384ms + 15.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.800ms + 15.46sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785424344.09911156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010667 ms (missed cycles : 5). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010667 ms (missed cycles : 5).[0m ×2 + 15.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.237ms + 15.80sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 16.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.632ms + 16.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.772ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966281 ms (missed cycles : 5). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966281 ms (missed cycles : 5).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.818ms + 17.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.168ms + 17.46sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 6.444ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985685 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985685 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.6s	36 warnings · 66 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[0m ×2 + 7.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.872ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693357 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693357 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309860 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309860 ms (missed cycles : 3).[0m ×2 + 8.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785424245.76324725 seconds ×3 + 8.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.161ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363394 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363394 ms (missed cycles : 4).[0m ×2 + 10.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785424247.32354736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.341458 ms (missed cycles : 7). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.341458 ms (missed cycles : 7).[0m ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766773 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766773 ms (missed cycles : 2).[0m ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	36 warnings · 66 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323672 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.783ms ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899458 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899458 ms (missed cycles : 2).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.453910 ms (missed cycles : 7). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.453910 ms (missed cycles : 7).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923359 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923359 ms (missed cycles : 2).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785424414.21931505 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.698ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071688 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071688 ms (missed cycles : 2).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.720ms + 4.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785424414.77505779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 4.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 5.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 7.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 8.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 9.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.6s	30 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.37sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785424180.72037959 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785424181.26976299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.4831e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2).[0m ×2 + 7.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785424184.34991860 seconds ×3 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235033 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235033 ms (missed cycles : 2).[0m ×2 + 7.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785424184.90898800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591156 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591156 ms (missed cycles : 3).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699790 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699790 ms (missed cycles : 2).[0m ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	27 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359459 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359459 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.319ms + 0.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766793 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766793 ms (missed cycles : 2).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.753ms + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.703ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785424488.79761767 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.985ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424489.38849783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.44sINFOmove_groupClearing octomap...[0m ×2 + 4.44sINFOmove_groupOctomap cleared.[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.470ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2).[0m ×2 + 5.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 5.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424490.57865262 seconds ×3 + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.699ms + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.510ms + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424491.12255955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424491.59271765 seconds ×3 + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.460ms + 6.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.117ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010521 ms (missed cycles : 3). + 7.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.175ms + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010521 ms (missed cycles : 3).[0m ×2 + 7.95sINFOros2_control_nodeMuJoCo sim: 0.94% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762239 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762239 ms (missed cycles : 3).[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 5.095878 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal + 4.93sINFOjoint_trajectory_controllerAccepted new action goal + 4.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[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 5.095878 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal + 4.93sINFOjoint_trajectory_controllerAccepted new action goal + 4.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[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 5.095878 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal + 4.93sINFOjoint_trajectory_controllerAccepted new action goal + 4.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	21 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal + 4.93sINFOjoint_trajectory_controllerAccepted new action goal + 4.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[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 5.095878 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095878 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460077 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.586376 ms (missed cycles : 7).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108031 ms (missed cycles : 5).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785424241.13913679 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.882ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546342 ms (missed cycles : 6).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785424241.70308042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal + 4.93sINFOjoint_trajectory_controllerAccepted new action goal + 4.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719853 ms (missed cycles : 3).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550616 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	24 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785424180.72037959 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785424181.26976299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.4831e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872971 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015370 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064491 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785424180.72037959 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785424181.26976299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.4831e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033141 ms (missed cycles : 2).[0m ×2 + 0.29sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.29sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785424180.72037959 seconds ×3 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785424181.26976299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223192 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (2.4831e-05 s). ×2 + 1.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962780 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838105 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785424184.34991860 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235033 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235033 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785424184.90898800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591156 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591156 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699790 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699790 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	18 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785424277.62372041 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.664ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785424278.18057513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.411ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	18 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785424277.62372041 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.664ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785424278.18057513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.411ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	18 warnings · 43 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.885131 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891262 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411903 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447823 ms (missed cycles : 3).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785424277.62372041 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.664ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785424278.18057513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699623 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.917ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.411ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328403 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 40 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.150ms + 0.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.882ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691035 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786752 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.895ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702686 ms (missed cycles : 6).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.961ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495659 ms (missed cycles : 4).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785424419.10684323 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672349 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785424419.67765260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.675748 ms (missed cycles : 6).[0m ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446609 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 46 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359459 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359459 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.319ms + 0.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766793 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766793 ms (missed cycles : 2).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.753ms + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842237 ms (missed cycles : 3).[0m ×2 + 2.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.703ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802339 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785424488.79761767 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.985ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441488 ms (missed cycles : 3).[0m ×2 + 4.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424489.38849783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.44sINFOmove_groupClearing octomap...[0m ×2 + 4.44sINFOmove_groupOctomap cleared.[0m ×2 + 4.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.470ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002079 ms (missed cycles : 2).[0m ×2 + 5.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 5.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424490.57865262 seconds ×3 + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.699ms + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.510ms + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424491.12255955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332892 ms (missed cycles : 4).[0m ×2 + 6.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424491.59271765 seconds ×3

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	24 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	27 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 6.75sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.75sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.02sINFOjoint_trajectory_controllerReceived new action goal + 7.02sINFOjoint_trajectory_controllerAccepted new action goal + 7.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470012 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.22sINFOmove_groupClearing octomap...[0m ×2 + 4.22sINFOmove_groupOctomap cleared.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 6.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 6.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470012 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.22sINFOmove_groupClearing octomap...[0m ×2 + 4.22sINFOmove_groupOctomap cleared.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 6.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 6.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3
− skipped	—	createvector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675807 ms (missed cycles : 3).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 5.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 5.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

10 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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	24 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	24 warnings · 110 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[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 3.495224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495224 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702033 ms (missed cycles : 2).[0m ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762792 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785424135.34434485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785424135.35469198 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785424135.91015100 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785424135.92041159 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708219 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785424136.47290897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785424136.62346339 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785424137.20714474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_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 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762551 ms (missed cycles : 2).[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785424137.27729940 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785424137.83414912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826140 ms (missed cycles : 5).[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907064 ms (missed cycles : 5).[0m ×2