MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.1s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	30.2s	14 errors · 306 warnings · 1177 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/2026-07-30-19-58-37-570571-faa4b0521ff2-9197 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.52sINFOstatic_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' + 12.52sINFOstatic_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' + 12.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 12.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 12.65sINFOcontroller_managerupdate rate is 600 Hz + 12.65sINFOcontroller_managerOverruns handling is : enabled + 12.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 12.66sWARNcontroller_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. + 12.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 12.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 12.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 12.76sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.794987 ms (missed cycles : 6). + 12.78sINFOros2_control_node-8process started with pid [9254] ×2 + 12.78sINFOmove_group-20process started with pid [9343] ×2 + 12.78sINFOparameter_manager_node-21process started with pid [9344] ×2 + 12.78sINFOwaypoint_manager_node-22process started with pid [9345] ×2 + 12.78sINFOmove_joint_resampler_node-23process started with pid [9346] ×2 + 12.78sINFOmove_end_effector_resampler_node-24process started with pid [9365] ×2 + 12.79sINFOobjective_server_node_main-25process started with pid [9368] ×2 + 12.79sINFOcomponent_container_mt-26process started with pid [9369] ×2 + 12.79sINFOcomponent_container_mt-27process started with pid [9370] ×2 + 12.79sINFOexecute_objective_bridge-28process started with pid [9371] ×2 + 12.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 12.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 12.80sINFOui_teleop_bridge-29process started with pid [9372] ×2 + 12.80sINFOweb_bridge-30process started with pid [9373] ×2 + 12.80sINFOtf2_web_republisher_node-31process started with pid [9374] ×2 + 12.80sINFOvideo_server-32process started with pid [9375] ×2 + 12.80sINFOweb_bridge_auth_proxy-33process started with pid [9376] ×2 + 12.80sINFOweb_video_auth_proxy-34process started with pid [9379] ×2 + 12.80sINFOcomponent_container_isolated-1process started with pid [9247] ×2 + 12.80sINFOcomponent_container_isolated-2process started with pid [9248] ×2 + 12.80sINFOstatic_transform_publisher-3process started with pid [9249] ×2 + 12.80sINFOstatic_transform_publisher-4process started with pid [9250] ×2 + 12.80sINFOodom_qos_relay.py-5process started with pid [9251] ×2 + 12.80sINFOscan_to_scan_filter_chain-6process started with pid [9252] ×2 + 12.80sINFOscan_to_scan_filter_chain-7process started with pid [9253] ×2 + 12.81sINFOros2-9process started with pid [9332] ×2 + 12.81sINFOros2-10process started with pid [9333] ×2 + 12.81sINFOros2-11process started with pid [9334] ×2 + 12.81sINFOros2-12process started with pid [9335] ×2 + 12.81sINFOros2-13process started with pid [9336] ×2 + 12.81sINFOros2-14process started with pid [9337] ×2 + 12.81sINFOros2-15process started with pid [9338] ×2 + 12.81sINFOros2-16process started with pid [9339] ×2 + 12.81sINFOros2-17process started with pid [9340] ×2 + 12.81sINFOros2-18process started with pid [9341] ×2 + 12.81sINFOros2-19process started with pid [9342] ×2 + 12.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 12.84sINFOcontroller_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. + 12.90sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 12.90sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 12.90sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 12.90sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 12.90sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 12.90sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 12.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 12.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 12.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 12.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 12.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 12.90sWARNros2_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 + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.794987 ms (missed cycles : 6).[0m ×2 + 12.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 12.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 12.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 12.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 12.96sINFOmap_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. + 12.96sINFOmap_serverCreating + 12.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 12.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.98sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 12.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 12.98sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 12.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 12.99sINFOcontroller_serverCreating controller server + 12.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 12.99sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.04sINFOlocal_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. + 13.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.05sINFOlocal_costmap.local_costmapCreating Costmap + 13.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.09sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.10sINFOsmoother_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. + 13.12sINFOsmoother_serverCreating smoother server + 13.12sINFOlifecycle_manager_localizationCreating + 13.14sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.15sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.15sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.15sINFOmap_serverConfiguring + 13.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.18sINFOrobot_state_publisherRobot initialized + 13.19sINFOplanner_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. + 13.19sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.19sINFOcontroller_managerReceived robot description from topic. + 13.19sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.21sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.22sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.22sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.24sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.24sINFOamclConfiguring + 13.24sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.24sINFOmap_serverActivating + 13.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.25sINFOplanner_serverCreating + 13.26sINFOvideo_server2026/07/30 19:58:53 INF MediaMTX v1.19.3, linux, amd64 ×2 + 13.26sINFOvideo_server2026/07/30 19:58:53 INF configuration loaded from /tmp/moveit-webrtc-o3znm8ci/mediamtx.yml ×2 + 13.26sINFOvideo_server2026/07/30 19:58:53 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 13.26sINFOvideo_server2026/07/30 19:58:53 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 13.28sINFOglobal_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. + 13.29sINFOglobal_costmap.global_costmapCreating Costmap + 13.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 13.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.33sINFObehavior_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. + 13.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.37sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.37sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.37sINFOamclActivating + 13.37sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.37sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.37sINFOamclSubscribed to map_topic: /map + 13.38sINFOamclSubscribed to scan_topic: /scan_merged + 13.38sINFOamclCreated reinitialize_global_localization service + 13.38sINFOamclCreated request_nomotion_update service + 13.39sINFOamclA new map was received + 13.39sINFOamclInitializing particle filter instance + 13.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.40sINFObt_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. + 13.40sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.42sINFObt_navigatorCreating + 13.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.45sINFOwaypoint_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. + 13.45sINFOwaypoint_followerCreating + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.46sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.43046 seconds + 13.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.46sINFOmove_groupLoaded robot model in 0.43046 seconds[0m ×2 + 13.47sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.47sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.47sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.47sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.48sINFOvelocity_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. + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.51sINFOlifecycle_manager_navigationCreating + 13.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.53sWARNlaser_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. + 13.53sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.53sWARNlaser_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. + 13.53sWARNscan_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 + 13.54sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.54sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.54sINFOcontroller_serverConfiguring controller interface + 13.54sINFOcontroller_servergetting progress checker plugins.. + 13.54sINFOcontroller_servergetting goal checker plugins.. + 13.54sINFOcontroller_serverController frequency set to 20.0000Hz + 13.54sINFOlocal_costmap.local_costmapConfiguring + 13.55sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.57sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 13.61sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 13.61sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 13.61sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 13.66sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 13.67sINFOcontroller_serverController Server has progress_checker progress checkers available. + 13.67sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 13.67sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 13.70sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 13.72sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 13.74sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 13.74sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 13.75sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 13.75sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 13.76sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 13.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 13.76sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 13.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 13.77sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 13.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 13.77sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 13.78sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 13.78sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 13.78sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 13.78sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 13.79sINFOcontroller_serverOptimizer reset + 13.80sINFOcontroller_serverController Server has FollowPath controllers available. + 13.81sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 13.81sINFOsmoother_serverConfiguring smoother server + 13.83sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 13.84sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 13.86sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 13.86sINFOplanner_serverConfiguring + 13.86sINFOglobal_costmap.global_costmapConfiguring + 13.87sINFOamclParticle filter initialization completed + 13.87sINFOamclInitializing particles from estimated pose and covariance + 13.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 13.87sINFOamclThe bond connection to the lifecycle manager is now fully formed + 13.87sINFOlifecycle_manager_localizationServer amcl connected with bond. + 13.87sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 13.87sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 13.88sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 13.88sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 13.89sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 13.89sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 13.89sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536605 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536605 ms (missed cycles : 3).[0m ×2 + 13.95sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 13.95sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 13.96sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.01sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.02sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.02sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.03sINFOplanner_serverPlanner Server has GridBased planners available. + 14.06sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.06sINFObehavior_serverConfiguring + 14.08sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 14.09sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 14.09sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 14.10sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 14.11sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 14.12sINFObehavior_serverConfiguring spin + 14.15sINFObehavior_serverConfiguring backup + 14.16sINFObehavior_serverConfiguring drive_on_heading + 14.18sINFObehavior_serverConfiguring assisted_teleop + 14.20sINFObehavior_serverConfiguring wait + 14.21sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 14.22sINFObt_navigatorConfiguring + 14.25sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 14.28sWARNbt_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 + 14.40sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.40sWARNmove_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. + 14.40sWARNmove_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. + 14.40sWARNmove_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. + 14.40sWARNmove_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. + 14.40sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.40sWARNmove_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. + 14.40sWARNmove_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 + 14.40sWARNmove_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 + 14.41sWARNmove_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. + 14.41sWARNmove_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. + 14.41sWARNmove_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. + 14.41sWARNmove_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 + 14.41sWARNmove_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 + 14.41sWARNmove_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 + 14.41sWARNmove_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 + 14.41sERRORcomponent_container_isolated-1process has died [pid 9247, 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_dxtd8o3a --params-file /tmp/launch_params_ov5sfuex -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.41sWARNmove_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 + 14.41sWARNmove_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 + 14.41sWARNmove_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. + 14.41sWARNmove_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. + 14.42sWARNmove_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 + 14.42sWARNmove_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 + 14.74sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 14.81sINFOmove_group[2026-07-30 19:58:55.551] [moveit_pro_license] [info] ×2 + 14.81sINFOmove_group************************************************* ×4 + 14.81sINFOmove_group* MoveIt Pro License ×2 + 14.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.91sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 14.91sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 14.91sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 14.91sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.20sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.20sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.20sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.20sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.20sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.20sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.20sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.20sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.20sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.20sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.21sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.21sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.21sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.21sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.21sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.22sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.22sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.22sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.22sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.22sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.42sINFOwaypoint_manager_nodeLoaded robot model in 1.25886 seconds[0m ×2 + 15.42sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.42sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 15.56sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 15.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 15.57sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.57sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.57sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.57sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 15.57sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.57sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.57sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.57sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.57sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.57sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.57sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.57sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.57sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.57sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.57sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.57sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.57sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.57sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.57sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.57sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.57sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.57sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.57sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.57sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.60sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.60sWARNros2_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 + 15.74sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.74sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377992 ms (missed cycles : 2). + 15.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 15.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377992 ms (missed cycles : 2).[0m ×2 + 15.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 15.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.75sWARNcomponent_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 + 15.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 15.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 15.79sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 15.79sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.79sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.79sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.80sINFOforce_torque_sensor_broadcasterconfigure successful + 15.80sINFOros2_control_nodeconfigure successful[0m ×6 + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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. + 15.80sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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. + 15.81sINFOcontroller_managerSuccessfully switched controllers! ×7 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 15.81sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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 + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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. + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.83sWARNwaypoint_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 + 15.83sWARNwaypoint_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 + 15.83sWARNwaypoint_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 + 15.94sINFOobjective_server_node[2026-07-30 19:58:56.686] [moveit_pro_license] [info] ×2 + 15.94sINFOobjective_server_node************************************************* ×4 + 15.94sINFOobjective_server_node* MoveIt Pro License ×2 + 15.94sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.99sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 16.01sINFOobjective_server_nodeLoaded robot model in 0.0276574 seconds[0m ×2 + 16.01sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.01sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.01sINFOwaypoint_manager_node[2026-07-30 19:58:56.757] [moveit_pro_license] [info] ×2 + 16.01sINFOwaypoint_manager_node************************************************* ×4 + 16.01sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.01sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 16.02sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 16.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 16.02sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 16.02sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 16.02sINFOstreaming_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) + 16.03sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 16.03sINFOcomponent_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 + 16.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 16.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 16.17sINFOros2-9process has finished cleanly [pid 9332] ×2 + 16.24sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.24sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 16.24sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.24sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 16.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 16.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 16.28sINFOstreaming_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) + 16.28sINFOcomponent_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 + 16.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 16.35sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.35sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.36sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.40sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 16.40sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 16.41sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.41sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.41sWARNobjective_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. + 16.41sWARNobjective_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. + 16.41sWARNobjective_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. + 16.41sWARNobjective_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. + 16.41sWARNobjective_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 + 16.41sWARNobjective_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 + 16.41sWARNobjective_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. + 16.41sWARNobjective_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 + 16.41sWARNobjective_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 + 16.41sWARNobjective_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. + 16.41sWARNobjective_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 + 16.41sWARNobjective_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 + 16.41sWARNobjective_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. + 16.41sWARNobjective_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. + 16.41sWARNobjective_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 + 16.41sWARNobjective_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. + 16.41sWARNobjective_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. + 16.41sWARNobjective_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 + 16.41sWARNobjective_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 + 16.41sWARNobjective_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 + 16.46sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 16.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 16.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 16.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 16.48sINFOobjective_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 + 16.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.49sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.50sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.50sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.50sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.50sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.50sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.50sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.50sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.80sINFOros2_control_node[2026-07-30 19:58:57.545] [info] Controller state will be published at 20 Hz. ×2 + 16.80sINFOros2_control_node[2026-07-30 19:58:57.546] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.80sINFOmove_groupMoveGroup debug mode is ON + 16.80sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.81sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.81sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785441536.435 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 16.85sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 16.85sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 16.85sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 16.85sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 16.85sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 16.86sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 16.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 16.90sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290213 ms (missed cycles : 4). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290213 ms (missed cycles : 4).[0m ×2 + 16.95sINFOmove_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 ****************************************************** + 16.96sINFOmove_group ×8 + 16.96sINFOmove_group****************************************************** ×4 + 16.96sINFOmove_group* MoveGroup using: ×2 + 16.96sINFOmove_group* - apply_planning_scene_service ×2 + 16.96sINFOmove_group* - clear_octomap_service ×2 + 16.96sINFOmove_group* - get_group_urdf ×2 + 16.96sINFOmove_group* - load_geometry_from_file ×2 + 16.96sINFOmove_group* - get_planning_scene_service ×2 + 16.96sINFOmove_group* - kinematics_service ×2 + 16.96sINFOmove_group* - save_geometry_to_file ×2 + 16.96sINFOmove_group* - GetPlanningGroups ×2 + 16.96sINFOmove_group* - URDFPlanningSceneCapability ×2 + 16.96sINFOmove_group[0m ×2 + 16.96sINFOmove_group[92mYou can start planning now![0m ×2 + 17.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.16sINFOros2-18process has finished cleanly [pid 9341] ×2 + 17.20sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 17.20sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 17.26sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 17.26sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 17.26sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.26sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.63sINFOros2_control_node[2026-07-30 19:58:58.374] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.63sINFOros2_control_node[2026-07-30 19:58:58.376] [info] Controller state will be published at 10 Hz. ×2 + 17.63sINFOros2_control_node[2026-07-30 19:58:58.377] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.85sINFOcomponent_container_mtLoaded robot model in 2.09613 seconds[0m ×2 + 17.85sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.85sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124221 ms (missed cycles : 7). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124221 ms (missed cycles : 7).[0m ×2 + 17.99sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.01sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.01sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.01sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 18.01sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.01sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.01sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 18.02sINFOros2-16process has finished cleanly [pid 9339] ×2 + 18.04sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.04sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.05sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.11sWARNobjective_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 + 18.25sWARNplanning_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. + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNcomponent_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 + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNplanning_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. + 18.25sWARNcomponent_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 + 18.25sWARNcomponent_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 + 18.25sWARNplanning_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. + 18.25sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.26sWARNplanning_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. + 18.26sWARNcomponent_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 + 18.26sWARNcomponent_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 + 18.26sWARNplanning_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. + 18.27sWARNcomponent_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 + 18.27sWARNcomponent_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 + 18.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.45sINFOcomponent_container_mt[2026-07-30 19:58:59.198] [moveit_pro_license] [info] ×2 + 18.45sINFOcomponent_container_mt************************************************* ×4 + 18.45sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.69sINFOros2_control_node[2026-07-30 19:58:59.430] [info] Controller state will be published at 20 Hz. ×2 + 18.69sINFOros2_control_node[2026-07-30 19:58:59.431] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.82sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.82sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287152 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287152 ms (missed cycles : 2).[0m ×2 + 19.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.05sINFOros2-19process has finished cleanly [pid 9342] ×2 + 19.06sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 19.06sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.06sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.06sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.07sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 19.07sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 19.10sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.10sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.10sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.10sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785441538.937 for reason 'discarding message because the queue is full' + 19.46sINFOros2_control_node[2026-07-30 19:59:00.202] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.46sINFOros2_control_node[2026-07-30 19:59:00.203] [info] Controller state will be published at 10 Hz. ×2 + 19.46sINFOros2_control_node[2026-07-30 19:59:00.204] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 19.83sINFOros2-17process has finished cleanly [pid 9340] ×2 + 19.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 19.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 19.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 19.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 19.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 19.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 19.93sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 19.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 19.93sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 19.93sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 19.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 19.93sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 19.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 19.93sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 19.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 19.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 19.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827946 ms (missed cycles : 5). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827946 ms (missed cycles : 5).[0m ×2 + 20.30sINFOros2-15process has finished cleanly [pid 9338] ×2 + 20.31sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.31sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 20.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 20.39sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.39sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.39sINFOplatform_velocity_controller_nav2configure successful + 20.79sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 20.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 20.79sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 20.79sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 20.79sINFOros2-14process has finished cleanly [pid 9337] ×2 + 20.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 20.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 20.88sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 20.88sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 20.88sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 20.88sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 20.88sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 20.88sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 20.88sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 20.88sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 20.88sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 20.88sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 20.89sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 20.89sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 20.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 20.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946418 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946418 ms (missed cycles : 2).[0m ×2 + 21.12sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 3.586ms + 21.22sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.22sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.22sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.22sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.22sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 21.22sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 21.24sINFOros2-11process has finished cleanly [pid 9334] ×2 + 21.29sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.30sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.30sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.30sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.30sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.30sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.31sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.31sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.68sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.68sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 21.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.68sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 21.71sINFOros2-10process has finished cleanly [pid 9333] ×2 + 21.76sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.76sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.76sINFOplatform_velocity_controllerconfigure successful + 21.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.77sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 21.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785441541.537 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047734 ms (missed cycles : 2). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047734 ms (missed cycles : 2).[0m ×2 + 22.14sINFOros2-12process has finished cleanly [pid 9335] ×2 + 22.17sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 22.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 22.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 22.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 22.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 22.18sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs + 22.18sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ktmqmwga --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_103kxz35 --params-file /tmp/launch_params_gu4sl7qs [0m ×2 + 22.20sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 22.20sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 22.21sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 22.21sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 22.22sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 22.22sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 22.22sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 22.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 22.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 22.23sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 22.24sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 22.24sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 22.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 22.52sINFOros2-13process has finished cleanly [pid 9336] ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649115 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649115 ms (missed cycles : 3).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 25.61sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 27.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 27.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 27.60sINFOmove_groupClearing octomap...[0m ×2 + 27.60sINFOmove_groupOctomap cleared.[0m ×2 + 27.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 28.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 28.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 29.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.48sINFOobjective_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 + 29.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 29.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 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	70.8s	3 errors · 234 warnings · 209 info
+ 0.00sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 4.819ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881397 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881397 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 4.880ms + 1.00sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 4.303ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 3.138ms + 2.00sINFOamclParticle filter update iteration stats: 2429 particles 723 points - 2.669ms + 2.49sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 2.530ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758551 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758551 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.452ms + 3.50sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 2.804ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845871 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845871 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.434ms + 4.09sINFOobjective_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 + 4.09sINFOjoint_trajectory_controllerGot request to cancel goal + 4.10sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.12sERRORobjective_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: 1785441756.27745724 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052141 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052141 ms (missed cycles : 2).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785441756.84513855 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 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.968ms + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.361ms + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.547424 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.547424 ms (missed cycles : 6).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.026ms + 6.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.494ms + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838100 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838100 ms (missed cycles : 3).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.870ms + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708567 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708567 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340788 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340788 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 4487 particles 723 points - 5.733ms + 9.59sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 5.874ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403463 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403463 ms (missed cycles : 4).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 4.224ms + 10.60sINFOamclParticle filter update iteration stats: 3399 particles 723 points - 4.909ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647720 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647720 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 3.509ms + 11.60sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 3.865ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.103303 ms (missed cycles : 7). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.103303 ms (missed cycles : 7).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 2721 particles 723 points - 2.987ms + 12.60sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 2.640ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882776 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882776 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.939ms + 13.59sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.934ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872534 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872534 ms (missed cycles : 4).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 2.518ms + 14.60sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 2.238ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953569 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953569 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 2.154ms + 15.60sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.259ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246040 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246040 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.916ms + 16.60sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.194ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861036 ms (missed cycles : 4). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861036 ms (missed cycles : 4).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 2.215ms + 17.60sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 2.199ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569645 ms (missed cycles : 4). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569645 ms (missed cycles : 4).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1756 particles 723 points - 2.418ms + 18.60sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.369ms + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111375 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111375 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.703ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127237 ms (missed cycles : 2). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127237 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536730 ms (missed cycles : 2). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536730 ms (missed cycles : 2).[0m ×2 + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403009 ms (missed cycles : 4). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403009 ms (missed cycles : 4).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071377 ms (missed cycles : 2). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071377 ms (missed cycles : 2).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376780 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376780 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077219 ms (missed cycles : 5). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077219 ms (missed cycles : 5).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.820ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109522 ms (missed cycles : 2). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109522 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790529 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790529 ms (missed cycles : 2).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534864 ms (missed cycles : 4). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534864 ms (missed cycles : 4).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811191 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811191 ms (missed cycles : 2).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632518 ms (missed cycles : 3). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632518 ms (missed cycles : 3).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.602132 ms (missed cycles : 4). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.602132 ms (missed cycles : 4).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613256 ms (missed cycles : 6). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613256 ms (missed cycles : 6).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538926 ms (missed cycles : 3). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538926 ms (missed cycles : 3).[0m ×2 + 33.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.01sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.22sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647113 ms (missed cycles : 4). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647113 ms (missed cycles : 4).[0m ×2 + 34.63sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 34.63sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828773 ms (missed cycles : 5). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828773 ms (missed cycles : 5).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722106 ms (missed cycles : 2). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722106 ms (missed cycles : 2).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759195 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759195 ms (missed cycles : 2).[0m ×2 + 38.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300565 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300565 ms (missed cycles : 2).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.777ms + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418296 ms (missed cycles : 3). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418296 ms (missed cycles : 3).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891873 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891873 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630442 ms (missed cycles : 3). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630442 ms (missed cycles : 3).[0m ×2 + 42.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254182 ms (missed cycles : 2). + 42.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254182 ms (missed cycles : 2).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922242 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922242 ms (missed cycles : 3).[0m ×2 + 43.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 44.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996968 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996968 ms (missed cycles : 2).[0m ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120426 ms (missed cycles : 5). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120426 ms (missed cycles : 5).[0m ×2 + 46.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410384 ms (missed cycles : 4). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410384 ms (missed cycles : 4).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375494 ms (missed cycles : 2). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375494 ms (missed cycles : 2).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472481 ms (missed cycles : 4). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472481 ms (missed cycles : 4).[0m ×2 + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570587 ms (missed cycles : 4). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570587 ms (missed cycles : 4).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172552 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172552 ms (missed cycles : 2).[0m ×2 + 51.19sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 52.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117808 ms (missed cycles : 4). + 52.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117808 ms (missed cycles : 4).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146311 ms (missed cycles : 5). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146311 ms (missed cycles : 5).[0m ×2 + 54.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178986 ms (missed cycles : 2). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178986 ms (missed cycles : 2).[0m ×2 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411992 ms (missed cycles : 3). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411992 ms (missed cycles : 3).[0m ×2 + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825323 ms (missed cycles : 2). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825323 ms (missed cycles : 2).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 57.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682383 ms (missed cycles : 3). + 57.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682383 ms (missed cycles : 3).[0m ×2 + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806308 ms (missed cycles : 2). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806308 ms (missed cycles : 2).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 59.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489541 ms (missed cycles : 3). + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489541 ms (missed cycles : 3).[0m ×2 + 60.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 60.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829845 ms (missed cycles : 3). + 60.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829845 ms (missed cycles : 3).[0m ×2 + 61.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339285 ms (missed cycles : 2). + 61.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339285 ms (missed cycles : 2).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734226 ms (missed cycles : 6). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734226 ms (missed cycles : 6).[0m ×2 + 63.21sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 63.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868348 ms (missed cycles : 3). + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868348 ms (missed cycles : 3).[0m ×2 + 64.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172777 ms (missed cycles : 2). + 64.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172777 ms (missed cycles : 2).[0m ×2 + 65.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253273 ms (missed cycles : 2). + 65.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253273 ms (missed cycles : 2).[0m ×2 + 66.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898809 ms (missed cycles : 2). + 66.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898809 ms (missed cycles : 2).[0m ×2 + 66.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 67.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833639 ms (missed cycles : 2). + 67.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833639 ms (missed cycles : 2).[0m ×2 + 68.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms + 68.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898977 ms (missed cycles : 2). + 68.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898977 ms (missed cycles : 2).[0m ×2 + 69.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 69.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497507 ms (missed cycles : 3). + 69.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497507 ms (missed cycles : 3).[0m ×2 + 70.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.182622 ms (missed cycles : 6). + 70.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.182622 ms (missed cycles : 6).[0m ×2 + 71.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 71.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718613 ms (missed cycles : 2). + 71.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718613 ms (missed cycles : 2).[0m ×2 + 72.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 72.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 72.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 72.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 73.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 73.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890554 ms (missed cycles : 3). + 73.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890554 ms (missed cycles : 3).[0m ×2 + 74.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803314 ms (missed cycles : 2). + 74.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803314 ms (missed cycles : 2).[0m ×2 + 74.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785441827.12533760 seconds ×3 + 75.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 75.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 75.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.895ms + 75.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785441827.68197322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 75.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 75.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 76.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 76.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 76.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 77.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.1s	189 warnings · 166 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441594.07968569 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441594.62874961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (2.537e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.56sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.56sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765813 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765813 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785441597.69888592 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785441598.26273155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187057 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187057 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600289 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600289 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424829 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424829 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164565 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164565 ms (missed cycles : 4).[0m ×2 + 8.42sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.958ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179827 ms (missed cycles : 5). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179827 ms (missed cycles : 5).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.855ms + 9.52sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.604ms + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520982 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520982 ms (missed cycles : 4).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165016 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165016 ms (missed cycles : 5).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643573 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643573 ms (missed cycles : 3).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 12.32sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110536 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110536 ms (missed cycles : 3).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 13.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002069 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002069 ms (missed cycles : 2).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315304 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315304 ms (missed cycles : 2).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.957ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580449 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580449 ms (missed cycles : 3).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884074 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884074 ms (missed cycles : 3).[0m ×2 + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 17.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029432 ms (missed cycles : 5). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029432 ms (missed cycles : 5).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270977 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270977 ms (missed cycles : 2).[0m ×2 + 19.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306795 ms (missed cycles : 4). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306795 ms (missed cycles : 4).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544633 ms (missed cycles : 4). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544633 ms (missed cycles : 4).[0m ×2 + 21.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206052 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206052 ms (missed cycles : 2).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 22.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674432 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674432 ms (missed cycles : 2).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 24.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073646 ms (missed cycles : 5). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073646 ms (missed cycles : 5).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097799 ms (missed cycles : 6). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097799 ms (missed cycles : 6).[0m ×2 + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724952 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724952 ms (missed cycles : 2).[0m ×2 + 26.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 27.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001048 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001048 ms (missed cycles : 3).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492414 ms (missed cycles : 4). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492414 ms (missed cycles : 4).[0m ×2 + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066152 ms (missed cycles : 2). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066152 ms (missed cycles : 2).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082980 ms (missed cycles : 5). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082980 ms (missed cycles : 5).[0m ×2 + 30.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.712555 ms (missed cycles : 6). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.712555 ms (missed cycles : 6).[0m ×2 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116037 ms (missed cycles : 2). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116037 ms (missed cycles : 2).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523046 ms (missed cycles : 2). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523046 ms (missed cycles : 2).[0m ×2 + 33.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 34.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473598 ms (missed cycles : 4). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473598 ms (missed cycles : 4).[0m ×2 + 35.12sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.12sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351072 ms (missed cycles : 4). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351072 ms (missed cycles : 4).[0m ×2 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966693 ms (missed cycles : 3). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966693 ms (missed cycles : 3).[0m ×2 + 36.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830736 ms (missed cycles : 5). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830736 ms (missed cycles : 5).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748216 ms (missed cycles : 3). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748216 ms (missed cycles : 3).[0m ×2 + 39.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653207 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653207 ms (missed cycles : 3).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839639 ms (missed cycles : 2). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839639 ms (missed cycles : 2).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.995437 ms (missed cycles : 8). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.995437 ms (missed cycles : 8).[0m ×2 + 42.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792191 ms (missed cycles : 2). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792191 ms (missed cycles : 2).[0m ×2 + 43.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232964 ms (missed cycles : 3). + 43.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232964 ms (missed cycles : 3).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613465 ms (missed cycles : 3). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613465 ms (missed cycles : 3).[0m ×2 + 45.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669082 ms (missed cycles : 2). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669082 ms (missed cycles : 2).[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845522 ms (missed cycles : 3). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845522 ms (missed cycles : 3).[0m ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.528091 ms (missed cycles : 6). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.528091 ms (missed cycles : 6).[0m ×2 + 48.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042803 ms (missed cycles : 3). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042803 ms (missed cycles : 3).[0m ×2 + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109860 ms (missed cycles : 2). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109860 ms (missed cycles : 2).[0m ×2 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313502 ms (missed cycles : 5). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313502 ms (missed cycles : 5).[0m ×2 + 52.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 52.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940542 ms (missed cycles : 3). + 52.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940542 ms (missed cycles : 3).[0m ×2 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584239 ms (missed cycles : 6). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584239 ms (missed cycles : 6).[0m ×2 + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746431 ms (missed cycles : 4). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746431 ms (missed cycles : 4).[0m ×2 + 55.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025780 ms (missed cycles : 2). + 55.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025780 ms (missed cycles : 2).[0m ×2 + 55.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023717 ms (missed cycles : 2). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023717 ms (missed cycles : 2).[0m ×2 + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3). + 57.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 59.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 59.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 60.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 60.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 60.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 61.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 61.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 61.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 61.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 61.65sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 61.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 62.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 63.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 63.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 63.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.6s	186 warnings · 150 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.13sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744359 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744359 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107090 ms (missed cycles : 5). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107090 ms (missed cycles : 5).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.416ms + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.489ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.902147 ms (missed cycles : 6). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.902147 ms (missed cycles : 6).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 10.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.710ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729687 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729687 ms (missed cycles : 2).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.557ms + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.804ms + 11.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.066ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877184 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877184 ms (missed cycles : 2).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.684ms + 12.78sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 6.546ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551416 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551416 ms (missed cycles : 3).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 5.641ms + 13.78sINFOamclParticle filter update iteration stats: 3315 particles 723 points - 4.801ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518010 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518010 ms (missed cycles : 2).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 2648 particles 723 points - 3.985ms + 14.78sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.721ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583146 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583146 ms (missed cycles : 4).[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 2.264ms + 15.78sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 4.026ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769023 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769023 ms (missed cycles : 2).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 1.546ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124774 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124774 ms (missed cycles : 2).[0m ×2 + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531064 ms (missed cycles : 6). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531064 ms (missed cycles : 6).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 18.61sINFOros2_control_nodeMuJoCo sim: 1.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697755 ms (missed cycles : 4). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697755 ms (missed cycles : 4).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502583 ms (missed cycles : 4). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502583 ms (missed cycles : 4).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975078 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975078 ms (missed cycles : 2).[0m ×2 + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790303 ms (missed cycles : 6). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.790303 ms (missed cycles : 6).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709740 ms (missed cycles : 3). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709740 ms (missed cycles : 3).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070637 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070637 ms (missed cycles : 2).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935569 ms (missed cycles : 3). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935569 ms (missed cycles : 3).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091377 ms (missed cycles : 3). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091377 ms (missed cycles : 3).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613774 ms (missed cycles : 3). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613774 ms (missed cycles : 3).[0m ×2 + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.887932 ms (missed cycles : 6). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.887932 ms (missed cycles : 6).[0m ×2 + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785274 ms (missed cycles : 2). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785274 ms (missed cycles : 2).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063341 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063341 ms (missed cycles : 2).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953378 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953378 ms (missed cycles : 2).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166856 ms (missed cycles : 5). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166856 ms (missed cycles : 5).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155233 ms (missed cycles : 2). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155233 ms (missed cycles : 2).[0m ×2 + 34.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088497 ms (missed cycles : 3). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088497 ms (missed cycles : 3).[0m ×2 + 35.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.11sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460655 ms (missed cycles : 3). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460655 ms (missed cycles : 3).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009133 ms (missed cycles : 2). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009133 ms (missed cycles : 2).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672150 ms (missed cycles : 3). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672150 ms (missed cycles : 3).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352984 ms (missed cycles : 4). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352984 ms (missed cycles : 4).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895831 ms (missed cycles : 3). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895831 ms (missed cycles : 3).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120810 ms (missed cycles : 4). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120810 ms (missed cycles : 4).[0m ×2 + 41.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017483 ms (missed cycles : 2). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017483 ms (missed cycles : 2).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973255 ms (missed cycles : 2). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973255 ms (missed cycles : 2).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830027 ms (missed cycles : 5). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830027 ms (missed cycles : 5).[0m ×2 + 45.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.918325 ms (missed cycles : 6). + 45.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.918325 ms (missed cycles : 6).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.736433 ms (missed cycles : 5). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.736433 ms (missed cycles : 5).[0m ×2 + 47.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724889 ms (missed cycles : 2). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724889 ms (missed cycles : 2).[0m ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424843 ms (missed cycles : 4). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424843 ms (missed cycles : 4).[0m ×2 + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907525 ms (missed cycles : 6). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907525 ms (missed cycles : 6).[0m ×2 + 49.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 50.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080812 ms (missed cycles : 6). + 50.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080812 ms (missed cycles : 6).[0m ×2 + 51.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691320 ms (missed cycles : 3). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691320 ms (missed cycles : 3).[0m ×2 + 51.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468698 ms (missed cycles : 4). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468698 ms (missed cycles : 4).[0m ×2 + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150951 ms (missed cycles : 5). + 53.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150951 ms (missed cycles : 5).[0m ×2 + 54.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792032 ms (missed cycles : 3). + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792032 ms (missed cycles : 3).[0m ×2 + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241134 ms (missed cycles : 2). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241134 ms (missed cycles : 2).[0m ×2 + 56.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565787 ms (missed cycles : 3). + 56.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565787 ms (missed cycles : 3).[0m ×2 + 57.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520327 ms (missed cycles : 4). + 57.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520327 ms (missed cycles : 4).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614414 ms (missed cycles : 3). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614414 ms (missed cycles : 3).[0m ×2 + 59.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557776 ms (missed cycles : 3). + 59.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557776 ms (missed cycles : 3).[0m ×2 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722578 ms (missed cycles : 2). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722578 ms (missed cycles : 2).[0m ×2 + 60.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785441888.56604719 seconds ×3 + 60.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 60.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.690ms + 61.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.023ms + 61.36sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785441889.13613486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.707ms + 61.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.347664 ms (missed cycles : 6). + 61.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.347664 ms (missed cycles : 6).[0m ×2 + 61.69sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 61.71sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671398 ms (missed cycles : 2). + 62.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671398 ms (missed cycles : 2).[0m ×2 + 63.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.310ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.3s	183 warnings · 171 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.78sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785441691.28589392 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.469ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785441691.85772872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.240ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.788ms + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.874ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791884 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791884 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025382 ms (missed cycles : 7). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025382 ms (missed cycles : 7).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.665ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768999 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768999 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.184ms + 10.00sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 4.435ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463711 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463711 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 4.060ms + 11.00sINFOamclParticle filter update iteration stats: 2554 particles 723 points - 3.784ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656328 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656328 ms (missed cycles : 3).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.080ms + 11.99sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 2.527ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186594 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186594 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.265ms + 13.01sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.658ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081212 ms (missed cycles : 7). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081212 ms (missed cycles : 7).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.763ms + 14.00sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.214ms + 14.50sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.053ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511645 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511645 ms (missed cycles : 4).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543153 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543153 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670822 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670822 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114414 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114414 ms (missed cycles : 2).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846317 ms (missed cycles : 4). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846317 ms (missed cycles : 4).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042031 ms (missed cycles : 4). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042031 ms (missed cycles : 4).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426255 ms (missed cycles : 4). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426255 ms (missed cycles : 4).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.390796 ms (missed cycles : 7). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.390796 ms (missed cycles : 7).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923286 ms (missed cycles : 2). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923286 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093274 ms (missed cycles : 4). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093274 ms (missed cycles : 4).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668550 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668550 ms (missed cycles : 3).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450071 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450071 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.787ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752175 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752175 ms (missed cycles : 2).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.755ms ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955205 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955205 ms (missed cycles : 2).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994873 ms (missed cycles : 3). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994873 ms (missed cycles : 3).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680244 ms (missed cycles : 2). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680244 ms (missed cycles : 2).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875227 ms (missed cycles : 3). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875227 ms (missed cycles : 3).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524066 ms (missed cycles : 3). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524066 ms (missed cycles : 3).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097255 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097255 ms (missed cycles : 3).[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772291 ms (missed cycles : 2). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772291 ms (missed cycles : 2).[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269956 ms (missed cycles : 6). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.269956 ms (missed cycles : 6).[0m ×2 + 35.60sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679281 ms (missed cycles : 6). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679281 ms (missed cycles : 6).[0m ×2 + 36.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.23sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141471 ms (missed cycles : 2). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141471 ms (missed cycles : 2).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227098 ms (missed cycles : 2). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227098 ms (missed cycles : 2).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms ×2 + 38.91sINFOros2_control_nodeMuJoCo sim: 0.85% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778614 ms (missed cycles : 6). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.778614 ms (missed cycles : 6).[0m ×2 + 39.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.821ms + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998339 ms (missed cycles : 2). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998339 ms (missed cycles : 2).[0m ×2 + 40.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715597 ms (missed cycles : 3). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715597 ms (missed cycles : 3).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442659 ms (missed cycles : 7). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442659 ms (missed cycles : 7).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748131 ms (missed cycles : 3). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748131 ms (missed cycles : 3).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808649 ms (missed cycles : 2). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808649 ms (missed cycles : 2).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910907 ms (missed cycles : 3). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910907 ms (missed cycles : 3).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.232524 ms (missed cycles : 6). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.232524 ms (missed cycles : 6).[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994082 ms (missed cycles : 4). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994082 ms (missed cycles : 4).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms ×2 + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.616777 ms (missed cycles : 7). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.616777 ms (missed cycles : 7).[0m ×2 + 48.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719734 ms (missed cycles : 2). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719734 ms (missed cycles : 2).[0m ×2 + 50.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 50.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269508 ms (missed cycles : 2). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269508 ms (missed cycles : 2).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 51.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953461 ms (missed cycles : 5). + 51.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.953461 ms (missed cycles : 5).[0m ×2 + 52.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609873 ms (missed cycles : 3). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609873 ms (missed cycles : 3).[0m ×2 + 53.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335211 ms (missed cycles : 3). + 53.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335211 ms (missed cycles : 3).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491768 ms (missed cycles : 3). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491768 ms (missed cycles : 3).[0m ×2 + 54.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.600ms + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991688 ms (missed cycles : 2). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991688 ms (missed cycles : 2).[0m ×2 + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313730 ms (missed cycles : 4). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313730 ms (missed cycles : 4).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 57.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321546 ms (missed cycles : 4). + 57.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321546 ms (missed cycles : 4).[0m ×2 + 58.10sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785441745.55795097 seconds ×3 + 58.19sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.143ms + 58.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.073ms + 58.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.544ms + 58.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785441746.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740505 ms (missed cycles : 3). + 58.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740505 ms (missed cycles : 3).[0m ×2 + 58.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 59.05sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 59.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.228ms + 59.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.233ms + 59.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.856ms + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758636 ms (missed cycles : 3). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758636 ms (missed cycles : 3).[0m ×2 + 60.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 60.27sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 60.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140633 ms (missed cycles : 2). + 60.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140633 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.8s	150 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.99sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838764 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838764 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300959 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300959 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979968 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979968 ms (missed cycles : 3).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456850 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456850 ms (missed cycles : 4).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825852 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825852 ms (missed cycles : 3).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091624 ms (missed cycles : 4). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091624 ms (missed cycles : 4).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698523 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698523 ms (missed cycles : 2).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705153 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705153 ms (missed cycles : 3).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470770 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470770 ms (missed cycles : 3).[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348415 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348415 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985777 ms (missed cycles : 4). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985777 ms (missed cycles : 4).[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.457074 ms (missed cycles : 6). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.457074 ms (missed cycles : 6).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596030 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596030 ms (missed cycles : 3).[0m ×2 + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004844 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004844 ms (missed cycles : 2).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.082ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760748 ms (missed cycles : 2). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760748 ms (missed cycles : 2).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577845 ms (missed cycles : 5). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577845 ms (missed cycles : 5).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002192 ms (missed cycles : 4). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002192 ms (missed cycles : 4).[0m ×2 + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459102 ms (missed cycles : 4). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459102 ms (missed cycles : 4).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958031 ms (missed cycles : 3). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958031 ms (missed cycles : 3).[0m ×2 + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239172 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239172 ms (missed cycles : 2).[0m ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896212 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896212 ms (missed cycles : 2).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534980 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534980 ms (missed cycles : 2).[0m ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700722 ms (missed cycles : 6). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700722 ms (missed cycles : 6).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018136 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018136 ms (missed cycles : 2).[0m ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.216064 ms (missed cycles : 7). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.216064 ms (missed cycles : 7).[0m ×2 + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.895349 ms (missed cycles : 6). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.895349 ms (missed cycles : 6).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833080 ms (missed cycles : 3). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833080 ms (missed cycles : 3).[0m ×2 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939984 ms (missed cycles : 2). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939984 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677521 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677521 ms (missed cycles : 2).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669107 ms (missed cycles : 3). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669107 ms (missed cycles : 3).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081166 ms (missed cycles : 4). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081166 ms (missed cycles : 4).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898743 ms (missed cycles : 4). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898743 ms (missed cycles : 4).[0m ×2 + 39.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492044 ms (missed cycles : 4). + 39.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492044 ms (missed cycles : 4).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136432 ms (missed cycles : 4). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136432 ms (missed cycles : 4).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689518 ms (missed cycles : 3). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689518 ms (missed cycles : 3).[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.312322 ms (missed cycles : 7). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.312322 ms (missed cycles : 7).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683464 ms (missed cycles : 4). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683464 ms (missed cycles : 4).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2).[0m ×2 + 47.68sINFOjoint_trajectory_controllerGoal reached, success! + 47.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441594.07968569 seconds ×3 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2).[0m ×2 + 48.27sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441594.62874961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5).[0m ×2 + 49.21sINFOobjective_server_nodeFound path in 0 iterations (2.537e-05 s). ×2 + 49.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.9s	111 warnings · 123 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834900 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834900 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785441659.38236356 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455549 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455549 ms (missed cycles : 4).[0m ×2 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052098 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052098 ms (missed cycles : 5).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785441660.94571829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506935 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506935 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680034 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680034 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769957 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769957 ms (missed cycles : 5).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169378 ms (missed cycles : 7). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169378 ms (missed cycles : 7).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.556ms + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124204 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124204 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.508ms + 10.01sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.319ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066259 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066259 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.974ms + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.342ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151169 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151169 ms (missed cycles : 2).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 4869 particles 723 points - 5.255ms + 12.10sINFOamclParticle filter update iteration stats: 4497 particles 723 points - 5.124ms + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141876 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141876 ms (missed cycles : 3).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 8.830ms + 13.10sINFOamclParticle filter update iteration stats: 3710 particles 723 points - 4.260ms + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583014 ms (missed cycles : 4). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583014 ms (missed cycles : 4).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 4.294ms + 14.10sINFOamclParticle filter update iteration stats: 3232 particles 723 points - 3.953ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759504 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759504 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 3243 particles 723 points - 4.391ms + 15.10sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 3.431ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.932713 ms (missed cycles : 6). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.932713 ms (missed cycles : 6).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 3.180ms + 16.10sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 3.173ms + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717409 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717409 ms (missed cycles : 3).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 3.054ms + 17.10sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.442ms + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305273 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.075ms + 18.10sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 1.466ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632375 ms (missed cycles : 5). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632375 ms (missed cycles : 5).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186864 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186864 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094494 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094494 ms (missed cycles : 2).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834636 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834636 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694967 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694967 ms (missed cycles : 2).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.804ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688562 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688562 ms (missed cycles : 3).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811818 ms (missed cycles : 3). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811818 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949818 ms (missed cycles : 2). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949818 ms (missed cycles : 2).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 26.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.646765 ms (missed cycles : 5). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.646765 ms (missed cycles : 5).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926473 ms (missed cycles : 4). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926473 ms (missed cycles : 4).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127778 ms (missed cycles : 3). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127778 ms (missed cycles : 3).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 8.200ms + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334468 ms (missed cycles : 3). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334468 ms (missed cycles : 3).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 33.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2).[0m ×2 + 34.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3).[0m ×2 + 34.92sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785441691.28589392 seconds ×3 + 35.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.469ms + 35.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3).[0m ×2 + 35.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785441691.85772872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 35.84sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 35.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5).[0m ×2 + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 37.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.240ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.6s	57 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520327 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520327 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614414 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614414 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557776 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557776 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722578 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722578 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785441888.56604719 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.690ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.023ms + 3.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785441889.13613486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.707ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.347664 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.347664 ms (missed cycles : 6).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671398 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671398 ms (missed cycles : 2).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.310ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.805582 ms (missed cycles : 6). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.805582 ms (missed cycles : 6).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947316 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947316 ms (missed cycles : 3).[0m ×2 + 7.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.756ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458429 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458429 ms (missed cycles : 4).[0m ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (9.6e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×4 + 9.22sINFOobjective_server_nodeFound path in 29 iterations (0.0325304 s). ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747127 ms (missed cycles : 6). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747127 ms (missed cycles : 6).[0m ×2 + 9.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_____X] ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241721 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241721 ms (missed cycles : 5).[0m ×2 + 10.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.87sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789039 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789039 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699664 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699664 ms (missed cycles : 3).[0m ×2 + 12.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.246ms + 13.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872918 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872918 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.863ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2).[0m ×2 + 14.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 15.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.938ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.096ms + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4).[0m ×2 + 16.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785441902.12084031 seconds ×3 + 17.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.970ms + 17.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.235ms + 17.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441902.71620154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.48sINFOmove_groupClearing octomap...[0m ×2 + 17.48sINFOmove_groupOctomap cleared.[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5).[0m ×2 + 18.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441903.25638676 seconds ×3 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 18.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.455ms + 18.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 18.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441903.80751777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.193ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5).[0m ×2 + 19.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785441904.30767441 seconds ×3 + 19.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.718ms + 19.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.395ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	85 errors · 33 warnings · 388 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.863ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.938ms + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.096ms + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785441902.12084031 seconds ×3 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.970ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.235ms + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441902.71620154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441903.25638676 seconds ×3 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.455ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441903.80751777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.193ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785441904.30767441 seconds ×3 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.718ms + 5.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.395ms + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898694 ms (missed cycles : 2). + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898694 ms (missed cycles : 2).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115343 ms (missed cycles : 4). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115343 ms (missed cycles : 4).[0m ×2 + 7.13sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544903 ms (missed cycles : 4). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544903 ms (missed cycles : 4).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.118454 ms (missed cycles : 6). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.118454 ms (missed cycles : 6).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801042 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801042 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473067 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473067 ms (missed cycles : 2).[0m ×2 + 11.33sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 11.38sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORweb_video_auth_proxy-34process has died [pid 9379, 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 + 11.39sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 11.44sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORweb_bridge_auth_proxy-33process has died [pid 9376, 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 + 11.45sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 11.49sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.52sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.54sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.57sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.59sINFOvideo_server-32process has finished cleanly [pid 9375] ×2 + 11.60sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.62sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.64sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.67sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.69sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.72sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.76sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.77sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9374] ×2 + 11.79sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.83sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.83sINFOcontroller_managerShutdown request received.... + 11.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.83sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.83sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.83sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.83sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.83sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.83sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.83sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down the controller manager. + 11.84sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 11.84sERRORmove_group-20process has died [pid 9343, 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_tv7uf5yy --params-file /tmp/launch_params_zd73_ivn --params-file /tmp/launch_params_rz8s_h4q --params-file /tmp/launch_params_qn3i9kcl --params-file /tmp/launch_params_ttpxbcm7 --params-file /tmp/launch_params_40nvfmq1']. ×2 + 11.86sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.88sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.88sERRORui_teleop_bridge-29process has died [pid 9372, 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_a5m6fb7z']. ×2 + 11.90sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.91sINFOcomponent_container_mt-27process has finished cleanly [pid 9370] ×2 + 11.92sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.93sINFOexecute_objective_bridge-28process has finished cleanly [pid 9371] ×2 + 11.94sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.96sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.96sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.96sINFOmap_serverDeactivating + 11.96sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.97sINFOvideo_server2026/07/30 20:05:10 INF shutting down gracefully ×2 + 11.97sERRORobjective_server_node_main-25process has died [pid 9368, 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_gruet00o --params-file /tmp/launch_params_32bu8q_1 --params-file /tmp/launch_params_kymom504 --params-file /tmp/launch_params_ixljhgj8 --params-file /tmp/launch_params__pswq9du --params-file /tmp/launch_params_s3_7dimt --params-file /tmp/launch_params_kekxb0s9 --params-file /tmp/launch_params_2kjmglol --params-file /tmp/launch_params_scuvg2tp']. ×2 + 11.97sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOvideo_server2026/07/30 20:05:10 INF [WebRTC] closing ×2 + 11.97sINFOvideo_server2026/07/30 20:05:10 INF [RTSP] closing ×2 + 11.97sINFOvideo_server2026/07/30 20:05:10 INF waiting for running hooks ×2 + 11.97sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.97sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.97sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.97sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.97sINFOui_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 + 11.97sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.97sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.97sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.97sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.97sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.97sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.97sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.97sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.97sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.97sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.97sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOmap_serverCleaning up + 11.97sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.97sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.98sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.98sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.98sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.98sERRORmove_groupStack trace (most recent call last) in thread 9956: ×2 + 11.98sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.98sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4eded40a63, in __clone ×2 + 11.98sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4edecb3aa3, in ×2 + 11.98sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4edef45db3, in ×2 + 11.98sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f4edf688ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.98sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4edf2b84d0, in rclcpp::Rate::sleep() ×2 + 11.98sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4edf20ba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.98sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4edf1d0a71, in ×2 + 11.98sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4edef14390, in __cxa_throw ×2 + 11.98sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4edeefea54, in std::terminate() ×2 + 11.98sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4edef140d9, in ×2 + 11.98sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4edeefeff4, in ×2 + 11.98sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4edec3f8fe, in abort ×2 + 11.98sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4edec5c27d, in raise ×2 + 11.98sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4edecb5b2c, in pthread_kill ×2 + 11.98sERRORmove_groupAborted (Signal sent by tkill() 9343 0) ×2 + 11.98sINFOobjective_server_node[2026-07-30 20:05:11.069] [moveit_pro_license] [info] ×2 + 11.98sINFOobjective_server_node************************************************* ×4 + 11.98sINFOobjective_server_node* MoveIt Pro License ×2 + 11.98sINFOobjective_server_node* Application has successfully terminated ×2 + 11.98sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.98sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.98sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.98sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.98sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.98sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.98sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.99sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.99sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.99sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.99sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b0b2d06a4, in _start ×2 + 11.99sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a48dac28a, in __libc_start_main ×2 + 11.99sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a48dac1d0, in ×2 + 11.99sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a48dc9bbd, in exit ×2 + 11.99sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a48dc9a75, in ×2 + 11.99sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f9a492988f5, in spdlog::details::registry::~registry() ×2 + 11.99sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b0b2d0d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.99sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b0b2d7315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.99sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b0b2d65a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.99sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b0b2d2b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.99sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b0b2d0d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.99sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a49952454, in rclcpp::Node::~Node() ×2 + 11.99sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a4990d515, in ×2 + 11.99sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a49950d20, in ×2 + 11.99sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a49950c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.99sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a4990d5d9, in ×2 + 11.99sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9a49912161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.99sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9a12442450]) ×2 + 11.99sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.99sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.99sINFOodom_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 + 11.99sINFOodom_qos_relay.pymain() ×2 + 11.99sINFOodom_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 + 11.99sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.99sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.99sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.99sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.99sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.99sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.99sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.99sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.99sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.99sERRORamclThe bond connection to the lifecycle manager has been broken + 12.00sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.00sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 12.05sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.05sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.05sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 12.19sERRORcomponent_container_isolated-2process has died [pid 9248, 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_dxtd8o3a --params-file /tmp/launch_params_orjp54nd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.72sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9365] ×2 + 12.75sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9346] ×2 + 12.82sINFOwaypoint_manager_node-22process has finished cleanly [pid 9345] ×2 + 12.83sINFOparameter_manager_node-21process has finished cleanly [pid 9344] ×2 + 12.88sINFOcomponent_container_mt-26process has finished cleanly [pid 9369] ×2 + 12.90sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9253] ×2 + 12.92sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9252] ×2 + 12.96sINFOstatic_transform_publisher-4process has finished cleanly [pid 9250] ×2 + 12.98sINFOstatic_transform_publisher-3process has finished cleanly [pid 9249] ×2 + 13.01sERRORodom_qos_relay.py-5process has died [pid 9251, 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 + 14.28sINFOweb_bridge-30process has finished cleanly [pid 9373] ×2 + 14.28sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.63sINFOros2_control_node-8process has finished cleanly [pid 9254] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 51 warnings · 97 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491768 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491768 ms (missed cycles : 3).[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.600ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991688 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991688 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313730 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313730 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.742ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321546 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321546 ms (missed cycles : 4).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785441745.55795097 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.143ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.073ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.544ms + 3.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785441746.12500668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740505 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740505 ms (missed cycles : 3).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.591ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.228ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.233ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.856ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758636 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758636 ms (missed cycles : 3).[0m ×2 + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 5.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140633 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140633 ms (missed cycles : 2).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.459ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.462ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817085 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817085 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383454 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383454 ms (missed cycles : 2).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.560ms + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.602ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406166 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406166 ms (missed cycles : 3).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 4869 particles 723 points - 5.427ms + 10.00sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 4.819ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881397 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881397 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 4.880ms + 10.99sINFOamclParticle filter update iteration stats: 2951 particles 723 points - 4.303ms + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 2680 particles 723 points - 3.138ms + 12.00sINFOamclParticle filter update iteration stats: 2429 particles 723 points - 2.669ms + 12.49sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 2.530ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758551 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758551 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.452ms + 13.50sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 2.804ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845871 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845871 ms (missed cycles : 3).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.434ms + 14.09sINFOobjective_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 + 14.09sINFOjoint_trajectory_controllerGot request to cancel goal + 14.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.11sERRORobjective_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: 1785441756.27745724 seconds ×3 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052141 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052141 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 14.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785441756.84513855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.968ms + 15.03sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.361ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.547424 ms (missed cycles : 6). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.547424 ms (missed cycles : 6).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 16.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.026ms + 16.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.494ms + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838100 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838100 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.476ms
✓ 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 3.661108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.48sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834900 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834900 ms (missed cycles : 3).[0m ×2 + 7.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.062ms + 8.15sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785441659.38236356 seconds ×3 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455549 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455549 ms (missed cycles : 4).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052098 ms (missed cycles : 5). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052098 ms (missed cycles : 5).[0m ×2 + 9.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785441660.94571829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506935 ms (missed cycles : 4). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506935 ms (missed cycles : 4).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680034 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680034 ms (missed cycles : 3).[0m ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.8s	33 warnings · 66 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718613 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718613 ms (missed cycles : 2).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040179 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890554 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890554 ms (missed cycles : 3).[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803314 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803314 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785441827.12533760 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.895ms + 4.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785441827.68197322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 8.48sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 9.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×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 5.683464 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683464 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441594.07968569 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441594.62874961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (2.537e-05 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765813 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765813 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785441597.69888592 seconds ×3 + 7.92sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785441598.26273155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187057 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187057 ms (missed cycles : 2).[0m ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600289 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600289 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	21 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.246ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872918 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872918 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.863ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.938ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.096ms + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785441902.12084031 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.970ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.235ms + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441902.71620154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.75sINFOmove_groupClearing octomap...[0m ×2 + 4.75sINFOmove_groupOctomap cleared.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441903.25638676 seconds ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.455ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441903.80751777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.193ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785441904.30767441 seconds ×3 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.718ms + 6.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.395ms + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898694 ms (missed cycles : 2). + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898694 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.99sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.01sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	21 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×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 5.683464 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683464 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441594.07968569 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441594.62874961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (2.537e-05 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.26sINFOjoint_trajectory_controllerReceived new action goal + 5.26sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683464 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683464 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125766 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534008 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670856 ms (missed cycles : 2).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441594.07968569 seconds ×3 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441594.62874961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5).[0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (2.537e-05 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.26sINFOjoint_trajectory_controllerReceived new action goal + 5.26sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785441594.07968569 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111246 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785441594.62874961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536418 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (2.537e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769344 ms (missed cycles : 3).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765813 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765813 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785441597.69888592 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785441598.26273155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187057 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187057 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600289 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600289 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	21 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	21 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	21 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	21 warnings · 36 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661108 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271950 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965254 ms (missed cycles : 2).[0m ×2 + 2.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824630 ms (missed cycles : 3).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785441654.76288986 seconds ×3 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.866ms + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 4.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785441655.33219528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579024 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.281ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791080 ms (missed cycles : 6).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.126ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420511 ms (missed cycles : 4).[0m ×2 + 6.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.085ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	21 warnings · 44 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785441691.28589392 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.469ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785441691.85772872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.240ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	21 warnings · 44 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785441691.28589392 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.469ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785441691.85772872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.240ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	21 warnings · 44 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871403 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139047 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 2.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114352 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415988 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785441691.28589392 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.469ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.618ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757454 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785441691.85772872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691623 ms (missed cycles : 5).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811301 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.240ms
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 46 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.803ms + 0.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 0.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3). + 0.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 0.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909078 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655768 ms (missed cycles : 6).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.678ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176665 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846140 ms (missed cycles : 2).[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785441831.94215298 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349083 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785441832.50588942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269567 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520491 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 48 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.246ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872918 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872918 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.863ms + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086901 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.938ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406922 ms (missed cycles : 3).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.096ms + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031683 ms (missed cycles : 4).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785441902.12084031 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.970ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.235ms + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441902.71620154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.75sINFOmove_groupClearing octomap...[0m ×2 + 4.75sINFOmove_groupOctomap cleared.[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356470 ms (missed cycles : 5).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441903.25638676 seconds ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.729ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.455ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441903.80751777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.193ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869557 ms (missed cycles : 5).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785441904.30767441 seconds ×3 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.718ms + 6.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.395ms
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	27 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 7.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.00sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 7.47sINFOjoint_trajectory_controllerReceived new action goal + 7.47sINFOjoint_trajectory_controllerAccepted new action goal + 7.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.48sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649115 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649115 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 2.49sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_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 + 6.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 6.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[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 3.649115 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649115 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 2.49sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.48sINFOmove_groupClearing octomap...[0m ×2 + 4.49sINFOmove_groupOctomap cleared.[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_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 + 6.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401567 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	move_to_pose_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295527 ms (missed cycles : 7).[0m ×2 + 0.41sINFOros2_control_nodeMuJoCo sim: 0.49% 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 7.094938 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094938 ms (missed cycles : 5).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356114 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441548.34581065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.40sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441548.35603404 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441548.91769552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441548.93785644 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431671 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441549.48692346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441549.63756728 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632230 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441550.21783924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441550.28798604 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785441550.84290981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514284 ms (missed cycles : 3).[0m ×2 + 5.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305309 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2