MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.5s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	33.0s	12 errors · 305 warnings · 1235 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-05-11-32-42-035624-2165cc27bde5-9270 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.82sINFOstatic_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' + 13.82sINFOstatic_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' + 13.90sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.92sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.93sINFOcontroller_managerupdate rate is 600 Hz + 13.93sINFOcontroller_managerOverruns handling is : enabled + 13.93sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.94sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.05sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.09sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.327503 ms (missed cycles : 7). + 14.11sINFOros2_control_node-8process started with pid [9327] ×2 + 14.11sINFOmove_group-20process started with pid [9416] ×2 + 14.11sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.12sINFOparameter_manager_node-21process started with pid [9417] ×2 + 14.12sINFOwaypoint_manager_node-22process started with pid [9418] ×2 + 14.12sINFOmove_joint_resampler_node-23process started with pid [9419] ×2 + 14.12sINFOmove_end_effector_resampler_node-24process started with pid [9438] ×2 + 14.12sINFOobjective_server_node_main-25process started with pid [9439] ×2 + 14.12sINFOcomponent_container_mt-26process started with pid [9440] ×2 + 14.12sINFOcomponent_container_mt-27process started with pid [9441] ×2 + 14.12sINFOexecute_objective_bridge-28process started with pid [9442] ×2 + 14.12sINFOui_teleop_bridge-29process started with pid [9443] ×2 + 14.12sINFOweb_bridge-30process started with pid [9444] ×2 + 14.12sINFOtf2_web_republisher_node-31process started with pid [9445] ×2 + 14.12sINFOvideo_server-32process started with pid [9448] ×2 + 14.12sINFOweb_bridge_auth_proxy-33process started with pid [9451] ×2 + 14.12sINFOweb_video_auth_proxy-34process started with pid [9454] ×2 + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.15sINFOcomponent_container_isolated-1process started with pid [9320] ×2 + 14.15sINFOcomponent_container_isolated-2process started with pid [9321] ×2 + 14.15sINFOstatic_transform_publisher-3process started with pid [9322] ×2 + 14.15sINFOstatic_transform_publisher-4process started with pid [9323] ×2 + 14.15sINFOodom_qos_relay.py-5process started with pid [9324] ×2 + 14.15sINFOscan_to_scan_filter_chain-6process started with pid [9325] ×2 + 14.15sINFOscan_to_scan_filter_chain-7process started with pid [9326] ×2 + 14.15sINFOros2-9process started with pid [9405] ×2 + 14.15sINFOros2-10process started with pid [9406] ×2 + 14.15sINFOros2-11process started with pid [9407] ×2 + 14.15sINFOros2-12process started with pid [9408] ×2 + 14.15sINFOros2-13process started with pid [9409] ×2 + 14.15sINFOros2-14process started with pid [9410] ×2 + 14.15sINFOros2-15process started with pid [9411] ×2 + 14.15sINFOros2-16process started with pid [9412] ×2 + 14.15sINFOros2-17process started with pid [9413] ×2 + 14.15sINFOros2-18process started with pid [9414] ×2 + 14.15sINFOros2-19process started with pid [9415] ×2 + 14.18sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.22sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.24sINFOcontroller_serverCreating controller server + 14.26sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.26sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.27sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.28sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.28sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.28sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.28sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.28sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.28sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.28sINFOmap_serverCreating + 14.29sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.29sINFOlocal_costmap.local_costmapCreating Costmap + 14.29sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.29sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.29sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.29sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.29sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.29sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.327503 ms (missed cycles : 7).[0m ×2 + 14.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.32sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.33sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.35sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.39sINFOsmoother_serverCreating smoother server + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.40sINFOrobot_state_publisherRobot initialized + 14.40sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.41sINFOcontroller_managerReceived robot description from topic. + 14.41sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.41sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.41sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.44sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.44sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.44sINFOlifecycle_manager_localizationCreating + 14.45sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.46sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.46sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.46sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.46sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.48sINFOmap_serverConfiguring + 14.49sINFOplanner_serverCreating + 14.51sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.51sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.52sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.53sINFOglobal_costmap.global_costmapCreating Costmap + 14.56sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.56sINFOamclConfiguring + 14.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.57sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.57sINFOmap_serverActivating + 14.57sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.59sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.60sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.68sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.68sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.68sINFOamclActivating + 14.68sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.68sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.69sINFOamclSubscribed to map_topic: /map + 14.69sINFOamclSubscribed to scan_topic: /scan_merged + 14.69sINFOamclCreated reinitialize_global_localization service + 14.69sINFOamclCreated request_nomotion_update service + 14.71sINFOamclA new map was received + 14.71sINFObt_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. + 14.71sINFOamclInitializing particle filter instance + 14.72sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.408547 seconds + 14.72sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.72sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.72sINFOmove_groupLoaded robot model in 0.408547 seconds[0m ×2 + 14.73sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.73sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.73sINFObt_navigatorCreating + 14.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.76sINFOvideo_server2026/08/05 11:33:01 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.76sINFOvideo_server2026/08/05 11:33:01 INF configuration loaded from /tmp/moveit-webrtc-dd14qmcu/mediamtx.yml ×2 + 14.76sINFOvideo_server2026/08/05 11:33:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.76sINFOvideo_server2026/08/05 11:33:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.78sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.79sINFOwaypoint_followerCreating + 14.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.82sWARNlaser_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. + 14.82sWARNlaser_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. + 14.82sWARNscan_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 + 14.85sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.90sINFOlifecycle_manager_navigationCreating + 14.92sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.93sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.93sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.94sINFOcontroller_serverConfiguring controller interface + 14.94sINFOcontroller_servergetting progress checker plugins.. + 14.94sINFOcontroller_servergetting goal checker plugins.. + 14.94sINFOcontroller_serverController frequency set to 20.0000Hz + 14.94sINFOlocal_costmap.local_costmapConfiguring + 14.94sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.95sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.98sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.98sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.98sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.01sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.01sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.01sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.02sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.03sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.06sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.08sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.08sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.08sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.08sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.08sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.08sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.08sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.08sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.10sINFOcontroller_serverOptimizer reset ×2 + 15.12sINFOcontroller_serverController Server has FollowPath controllers available. + 15.13sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.14sINFOsmoother_serverConfiguring smoother server + 15.15sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.16sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.16sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.16sINFOplanner_serverConfiguring + 15.16sINFOglobal_costmap.global_costmapConfiguring + 15.17sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576255 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576255 ms (missed cycles : 3).[0m ×2 + 15.19sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.19sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.19sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.20sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.24sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.24sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.24sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.30sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.30sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.30sINFOplanner_serverPlanner Server has GridBased planners available. + 15.30sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.32sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.32sINFObehavior_serverConfiguring + 15.33sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.33sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.34sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.34sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.35sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.36sINFObehavior_serverConfiguring spin + 15.42sINFObehavior_serverConfiguring backup + 15.44sINFObehavior_serverConfiguring drive_on_heading + 15.45sINFObehavior_serverConfiguring assisted_teleop + 15.47sINFObehavior_serverConfiguring wait + 15.47sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.47sINFObt_navigatorConfiguring + 15.48sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.50sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.79sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sINFOwaypoint_manager_nodeLoaded robot model in 0.423427 seconds[0m ×2 + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sWARNmove_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. + 15.79sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.79sWARNmove_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 + 15.80sWARNmove_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 + 15.80sWARNmove_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 + 15.80sWARNmove_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 + 15.80sWARNmove_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 + 15.82sWARNmove_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 + 15.82sWARNmove_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 + 15.82sWARNmove_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 + 15.82sWARNmove_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 + 15.82sWARNmove_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 + 15.82sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.82sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.84sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.88sINFOamclParticle filter initialization completed + 15.88sINFOamclInitializing particles from estimated pose and covariance + 15.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.96sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.96sINFOwaypoint_followerConfiguring + 15.98sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.98sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.98sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.99sINFOamclThe bond connection to the lifecycle manager is now fully formed + 16.00sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.01sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.01sINFOvelocity_smootherConfiguring velocity smoother + 16.01sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.02sINFOcontroller_serverActivating + 16.02sINFOlocal_costmap.local_costmapActivating + 16.02sINFOlocal_costmap.local_costmapChecking transform + 16.02sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×15 + 16.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.20sINFOmove_group[2026-08-05 11:33:02.465] [moveit_pro_license] [info] ×2 + 16.20sINFOmove_group************************************************* ×4 + 16.20sINFOmove_group* MoveIt Pro License ×2 + 16.20sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894700 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894700 ms (missed cycles : 3).[0m ×2 + 16.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.83sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.84sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.86sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.86sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.87sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.87sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.90sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.90sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.90sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.90sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.91sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.91sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.91sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.91sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.91sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.92sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.92sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.92sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.92sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.25sINFOwaypoint_manager_node[2026-08-05 11:33:03.511] [moveit_pro_license] [info] ×2 + 17.25sINFOwaypoint_manager_node************************************************* ×4 + 17.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.50sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.51sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.51sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.51sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.51sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.51sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.51sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.51sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.51sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.51sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.51sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.51sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.51sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.51sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.53sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.53sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.54sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710563 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710563 ms (missed cycles : 2).[0m ×2 + 17.60sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 17.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 17.65sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.65sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.66sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 17.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.79sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.81sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.82sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.82sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.82sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.82sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.82sINFOstreaming_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) + 17.82sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.82sINFOcomponent_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 + 17.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.84sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 17.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 17.84sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 17.84sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 17.86sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.86sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.86sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.90sINFOobjective_server_node[2026-08-05 11:33:04.164] [moveit_pro_license] [info] ×2 + 17.90sINFOobjective_server_node************************************************* ×4 + 17.90sINFOobjective_server_node* MoveIt Pro License ×2 + 17.90sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.97sINFOobjective_server_nodeLoaded robot model in 0.02316 seconds[0m ×2 + 17.97sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.97sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.02sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.04sINFOstreaming_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) + 18.04sINFOcomponent_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 + 18.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.15sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.20sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.33sINFOros2_control_node[2026-08-05 11:33:04.592] [info] Controller state will be published at 20 Hz. ×2 + 18.33sINFOros2_control_node[2026-08-05 11:33:04.593] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.39sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.42sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.42sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.42sWARNobjective_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. + 18.42sWARNobjective_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. + 18.42sWARNobjective_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. + 18.42sWARNobjective_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. + 18.42sWARNobjective_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 + 18.42sWARNobjective_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. + 18.42sWARNobjective_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 + 18.42sWARNobjective_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 + 18.42sWARNobjective_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. + 18.42sWARNobjective_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. + 18.42sWARNobjective_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. + 18.42sWARNobjective_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 + 18.42sWARNobjective_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 + 18.43sWARNobjective_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. + 18.43sWARNobjective_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 + 18.43sWARNobjective_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. + 18.43sWARNobjective_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 + 18.43sWARNobjective_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 + 18.43sWARNobjective_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 + 18.43sWARNobjective_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 + 18.48sINFOobjective_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 + 18.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.49sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 18.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 18.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 18.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 18.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 18.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 18.69sINFOros2-18process has finished cleanly [pid 9414] ×2 + 18.74sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785929583.891 for reason 'discarding message because the queue is full' + 18.76sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 18.76sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 18.76sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 18.76sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 18.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 18.76sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 18.76sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 18.76sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 18.76sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 18.76sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 18.76sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 18.76sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 18.76sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 18.77sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 18.77sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 18.80sINFOcomponent_container_mtLoaded robot model in 0.410545 seconds[0m ×2 + 18.80sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.80sINFOmove_groupMoveGroup debug mode is ON + 18.81sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.81sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.81sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.81sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.82sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.85sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.90sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387475 ms (missed cycles : 4). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387475 ms (missed cycles : 4).[0m ×2 + 18.96sINFOmove_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 ****************************************************** + 18.96sINFOmove_group ×8 + 18.97sINFOmove_group****************************************************** ×4 + 18.97sINFOmove_group* MoveGroup using: ×2 + 18.97sINFOmove_group* - apply_planning_scene_service ×2 + 18.97sINFOmove_group* - clear_octomap_service ×2 + 18.97sINFOmove_group* - get_group_urdf ×2 + 18.97sINFOmove_group* - load_geometry_from_file ×2 + 18.97sINFOmove_group* - get_planning_scene_service ×2 + 18.97sINFOmove_group* - kinematics_service ×2 + 18.97sINFOmove_group* - save_geometry_to_file ×2 + 18.97sINFOmove_group* - GetPlanningGroups ×2 + 18.97sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.97sINFOmove_group[0m ×2 + 18.97sINFOmove_group[92mYou can start planning now![0m ×2 + 19.04sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.04sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.04sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.04sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.08sINFOros2-15process has finished cleanly [pid 9411] ×2 + 19.11sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 19.11sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 19.18sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 19.18sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 19.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.52sINFOcomponent_container_mt[2026-08-05 11:33:05.784] [moveit_pro_license] [info] ×2 + 19.52sINFOcomponent_container_mt************************************************* ×4 + 19.52sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.52sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.65sINFOros2_control_node[2026-08-05 11:33:05.917] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.65sINFOros2_control_node[2026-08-05 11:33:05.919] [info] Controller state will be published at 10 Hz. ×2 + 19.66sINFOros2_control_node[2026-08-05 11:33:05.920] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.93sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.93sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 20.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 20.01sINFOros2-17process has finished cleanly [pid 9413] ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155662 ms (missed cycles : 2). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155662 ms (missed cycles : 2).[0m ×2 + 20.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.09sINFOforce_torque_sensor_broadcasterconfigure successful + 20.09sINFOros2_control_nodeconfigure successful[0m ×6 + 20.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.09sINFOcontroller_managerSuccessfully switched controllers! ×7 + 20.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 20.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.11sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.11sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 20.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 20.44sINFOros2-9process has finished cleanly [pid 9405] ×2 + 20.46sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.90sINFOros2_control_node[2026-08-05 11:33:07.164] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.90sINFOros2_control_node[2026-08-05 11:33:07.166] [info] Controller state will be published at 10 Hz. ×2 + 20.90sINFOros2_control_node[2026-08-05 11:33:07.167] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945128 ms (missed cycles : 3). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945128 ms (missed cycles : 3).[0m ×2 + 21.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 21.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 21.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 21.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 21.25sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785929586.390 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.28sINFOros2-16process has finished cleanly [pid 9412] ×2 + 21.31sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 21.31sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 21.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.70sINFOros2_control_node[2026-08-05 11:33:07.960] [info] Controller state will be published at 20 Hz. ×2 + 21.70sINFOros2_control_node[2026-08-05 11:33:07.961] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 22.05sINFOcontroller_managerLoading controller 'vacuum_gripper' + 22.05sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 22.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 22.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 22.06sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 22.07sINFOros2-19process has finished cleanly [pid 9415] ×2 + 22.08sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 22.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 22.11sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 22.11sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 22.11sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 22.11sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 22.11sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 22.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 22.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 22.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235118 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235118 ms (missed cycles : 3).[0m ×2 + 22.13sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 22.13sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 22.47sINFOros2-13process has finished cleanly [pid 9409] ×2 + 22.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.48sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.49sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 22.49sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 22.57sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 22.57sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 22.57sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.57sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.58sINFOplatform_velocity_controller_nav2configure successful + 22.97sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 22.97sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 22.97sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 22.97sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 22.97sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 22.98sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 22.98sINFOros2-14process has finished cleanly [pid 9410] ×2 + 23.03sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 23.03sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 23.03sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 23.03sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 23.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 23.04sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 23.04sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 23.04sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659475 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659475 ms (missed cycles : 2).[0m ×2 + 23.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 23.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 23.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 23.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 23.40sINFOros2-10process has finished cleanly [pid 9406] ×2 + 23.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 23.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 23.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 23.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 23.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 23.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 23.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 23.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 23.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 23.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 23.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 23.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 23.52sINFOlocal_costmap.local_costmapstart + 23.62sWARNcontroller_serverParameter controller_server.verbose not found + 23.62sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 23.62sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 23.65sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.512ms + 23.72sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 23.72sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 23.72sINFOsmoother_serverActivating + 23.73sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 23.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1785929588.890 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 23.83sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 23.83sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 23.83sINFOplanner_serverActivating + 23.83sINFOglobal_costmap.global_costmapActivating + 23.83sINFOglobal_costmap.global_costmapChecking transform + 23.83sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1785929590.064397 but the earliest data is at time 1785929590.792055, when looking up transform from frame [ridgeback_base_link] to frame [map] + 23.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 23.85sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 23.85sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq + 23.85sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 23.85sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 23.85sINFOros2-11process has finished cleanly [pid 9407] ×2 + 23.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw0h4zwr --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_ok38tusn --params-file /tmp/launch_params_kx73imlq [0m ×2 + 23.91sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 23.91sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 23.93sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 23.93sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 23.93sINFOplatform_velocity_controllerconfigure successful + 23.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 23.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 23.94sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 23.94sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 24.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.25sINFOros2-12process has finished cleanly [pid 9408] ×2 + 24.33sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1785929590.572699 but the earliest data is at time 1785929590.792055, when looking up transform from frame [ridgeback_base_link] to frame [map] + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418811 ms (missed cycles : 3). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418811 ms (missed cycles : 3).[0m ×2 + 24.83sINFOglobal_costmap.global_costmapstart + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 25.88sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 25.88sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 25.99sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 25.99sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 25.99sINFObehavior_serverActivating + 25.99sINFObehavior_serverActivating spin + 25.99sINFObehavior_serverActivating backup + 25.99sINFObehavior_serverActivating drive_on_heading + 25.99sINFObehavior_serverActivating assisted_teleop + 25.99sINFObehavior_serverActivating wait + 25.99sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 26.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 26.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 26.10sINFObt_navigatorActivating + 26.15sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 26.25sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 26.25sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 26.25sINFOwaypoint_followerActivating + 26.25sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 26.36sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 26.36sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 26.36sINFOvelocity_smootherActivating + 26.36sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 26.46sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 26.46sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 26.46sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 27.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 29.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.34sINFOmove_groupClearing octomap...[0m ×2 + 29.34sINFOmove_groupOctomap cleared.[0m ×2 + 29.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 29.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 30.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 31.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 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	73.9s	3 errors · 234 warnings · 213 info
+ 0.00sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.157ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209383 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209383 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.565ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397544 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397544 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533423 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533423 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546088 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546088 ms (missed cycles : 2).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 4.24sINFOobjective_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 + 4.25sINFOjoint_trajectory_controllerGot request to cancel goal + 4.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.26sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.27sERRORobjective_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: 1785929804.78350186 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 2.799ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.638ms + 4.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785929805.33757114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159044 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159044 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.732ms + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.118ms + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165501 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165501 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.827ms + 6.31sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 8.057ms + 6.60sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.625ms + 6.90sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.043ms + 6.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822603 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822603 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.97sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783601 ms (missed cycles : 4). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783601 ms (missed cycles : 4).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493602 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493602 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716122 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716122 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666822 ms (missed cycles : 4). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666822 ms (missed cycles : 4).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743762 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743762 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753727 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753727 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560706 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560706 ms (missed cycles : 4).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054825 ms (missed cycles : 4). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054825 ms (missed cycles : 4).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023537 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023537 ms (missed cycles : 3).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745917 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745917 ms (missed cycles : 2).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567649 ms (missed cycles : 3). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567649 ms (missed cycles : 3).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824491 ms (missed cycles : 4). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824491 ms (missed cycles : 4).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689296 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689296 ms (missed cycles : 2).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210039 ms (missed cycles : 4). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210039 ms (missed cycles : 4).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.377ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427769 ms (missed cycles : 3). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427769 ms (missed cycles : 3).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915397 ms (missed cycles : 3). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915397 ms (missed cycles : 3).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500328 ms (missed cycles : 6). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500328 ms (missed cycles : 6).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms ×2 + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588362 ms (missed cycles : 4). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588362 ms (missed cycles : 4).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106386 ms (missed cycles : 2). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106386 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875633 ms (missed cycles : 2). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875633 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289054 ms (missed cycles : 3). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289054 ms (missed cycles : 3).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569820 ms (missed cycles : 4). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569820 ms (missed cycles : 4).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369228 ms (missed cycles : 3). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369228 ms (missed cycles : 3).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049230 ms (missed cycles : 4). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049230 ms (missed cycles : 4).[0m ×2 + 33.31sINFOros2_control_nodeMuJoCo sim: 1.26% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038111 ms (missed cycles : 3). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038111 ms (missed cycles : 3).[0m ×2 + 34.20sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.20sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.54sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902192 ms (missed cycles : 4). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902192 ms (missed cycles : 4).[0m ×2 + 35.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.56sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.425642 ms (missed cycles : 5). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.425642 ms (missed cycles : 5).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460429 ms (missed cycles : 4). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460429 ms (missed cycles : 4).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829812 ms (missed cycles : 4). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829812 ms (missed cycles : 4).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513765 ms (missed cycles : 4). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513765 ms (missed cycles : 4).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985981 ms (missed cycles : 2). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985981 ms (missed cycles : 2).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704957 ms (missed cycles : 4). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704957 ms (missed cycles : 4).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684444 ms (missed cycles : 3). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684444 ms (missed cycles : 3).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441742 ms (missed cycles : 2). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441742 ms (missed cycles : 2).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814858 ms (missed cycles : 3). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814858 ms (missed cycles : 3).[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881171 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881171 ms (missed cycles : 2).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718402 ms (missed cycles : 3). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718402 ms (missed cycles : 3).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934079 ms (missed cycles : 3). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934079 ms (missed cycles : 3).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382505 ms (missed cycles : 3). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382505 ms (missed cycles : 3).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688275 ms (missed cycles : 3). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688275 ms (missed cycles : 3).[0m ×2 + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 51.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143280 ms (missed cycles : 4). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143280 ms (missed cycles : 4).[0m ×2 + 51.80sINFOobjective_server_nodePlanning for 34 path waypoints. ×6 + 52.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851917 ms (missed cycles : 4). + 52.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851917 ms (missed cycles : 4).[0m ×2 + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980136 ms (missed cycles : 2). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980136 ms (missed cycles : 2).[0m ×2 + 54.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705563 ms (missed cycles : 2). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705563 ms (missed cycles : 2).[0m ×2 + 55.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960252 ms (missed cycles : 3). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960252 ms (missed cycles : 3).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511606 ms (missed cycles : 4). + 56.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511606 ms (missed cycles : 4).[0m ×2 + 57.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355470 ms (missed cycles : 3). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355470 ms (missed cycles : 3).[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 58.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158060 ms (missed cycles : 4). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158060 ms (missed cycles : 4).[0m ×2 + 59.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.285ms + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070960 ms (missed cycles : 2). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070960 ms (missed cycles : 2).[0m ×2 + 60.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 61.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799521 ms (missed cycles : 4). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799521 ms (missed cycles : 4).[0m ×2 + 61.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308219 ms (missed cycles : 4). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308219 ms (missed cycles : 4).[0m ×2 + 62.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 63.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026697 ms (missed cycles : 4). + 63.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026697 ms (missed cycles : 4).[0m ×2 + 64.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775196 ms (missed cycles : 2). + 64.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775196 ms (missed cycles : 2).[0m ×2 + 64.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms ×2 + 65.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273708 ms (missed cycles : 4). + 65.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273708 ms (missed cycles : 4).[0m ×2 + 66.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463470 ms (missed cycles : 4). + 66.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463470 ms (missed cycles : 4).[0m ×2 + 67.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529722 ms (missed cycles : 3). + 67.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529722 ms (missed cycles : 3).[0m ×2 + 68.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868769 ms (missed cycles : 2). + 68.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868769 ms (missed cycles : 2).[0m ×2 + 69.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 69.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489398 ms (missed cycles : 2). + 69.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489398 ms (missed cycles : 2).[0m ×2 + 70.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 70.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655185 ms (missed cycles : 2). + 70.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655185 ms (missed cycles : 2).[0m ×2 + 71.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 72.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450737 ms (missed cycles : 4). + 72.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450737 ms (missed cycles : 4).[0m ×2 + 72.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 73.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851618 ms (missed cycles : 4). + 73.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851618 ms (missed cycles : 4).[0m ×2 + 74.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233893 ms (missed cycles : 4). + 74.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233893 ms (missed cycles : 4).[0m ×2 + 74.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 75.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514252 ms (missed cycles : 4). + 75.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514252 ms (missed cycles : 4).[0m ×2 + 75.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 76.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852803 ms (missed cycles : 3). + 76.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852803 ms (missed cycles : 3).[0m ×2 + 76.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 77.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970716 ms (missed cycles : 3). + 77.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970716 ms (missed cycles : 3).[0m ×2 + 78.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785929878.66774774 seconds ×3 + 78.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.843ms + 78.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 78.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712712 ms (missed cycles : 3). + 78.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712712 ms (missed cycles : 3).[0m ×2 + 78.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 78.72sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 79.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 79.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 79.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 79.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 80.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 80.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.8s	185 warnings · 165 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2). + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785929641.18374443 seconds ×3 + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785929641.74104691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (2.6458e-05 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.72sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.72sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.72sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.72sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703404 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703404 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785929644.96117783 seconds ×3 + 4.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785929645.52619076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415752 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415752 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130027 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130027 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442395 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442395 ms (missed cycles : 4).[0m ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007864 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007864 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831360 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831360 ms (missed cycles : 3).[0m ×2 + 9.38sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.644ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027376 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027376 ms (missed cycles : 2).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.684ms + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133956 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133956 ms (missed cycles : 3).[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.120ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868155 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868155 ms (missed cycles : 2).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 12.68sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953735 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953735 ms (missed cycles : 3).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987308 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987308 ms (missed cycles : 3).[0m ×2 + 14.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171102 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171102 ms (missed cycles : 3).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142544 ms (missed cycles : 3). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142544 ms (missed cycles : 3).[0m ×2 + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 16.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402826 ms (missed cycles : 4). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402826 ms (missed cycles : 4).[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270848 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270848 ms (missed cycles : 2).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms ×2 + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976604 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976604 ms (missed cycles : 3).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234377 ms (missed cycles : 2). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234377 ms (missed cycles : 2).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807366 ms (missed cycles : 3). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807366 ms (missed cycles : 3).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604084 ms (missed cycles : 3). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604084 ms (missed cycles : 3).[0m ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970849 ms (missed cycles : 3). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970849 ms (missed cycles : 3).[0m ×2 + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398931 ms (missed cycles : 4). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398931 ms (missed cycles : 4).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043152 ms (missed cycles : 4). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043152 ms (missed cycles : 4).[0m ×2 + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892289 ms (missed cycles : 3). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892289 ms (missed cycles : 3).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496601 ms (missed cycles : 2). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496601 ms (missed cycles : 2).[0m ×2 + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245575 ms (missed cycles : 4). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245575 ms (missed cycles : 4).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681947 ms (missed cycles : 2). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681947 ms (missed cycles : 2).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949420 ms (missed cycles : 3). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949420 ms (missed cycles : 3).[0m ×2 + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514035 ms (missed cycles : 3). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514035 ms (missed cycles : 3).[0m ×2 + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047578 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047578 ms (missed cycles : 2).[0m ×2 + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 34.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927837 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927837 ms (missed cycles : 2).[0m ×2 + 36.05sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.05sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766875 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766875 ms (missed cycles : 2).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794785 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794785 ms (missed cycles : 3).[0m ×2 + 37.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565353 ms (missed cycles : 3). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565353 ms (missed cycles : 3).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752935 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752935 ms (missed cycles : 3).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581431 ms (missed cycles : 3). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581431 ms (missed cycles : 3).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634168 ms (missed cycles : 2). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634168 ms (missed cycles : 2).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625888 ms (missed cycles : 3). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625888 ms (missed cycles : 3).[0m ×2 + 43.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008036 ms (missed cycles : 3). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008036 ms (missed cycles : 3).[0m ×2 + 44.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627471 ms (missed cycles : 3). + 44.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627471 ms (missed cycles : 3).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091310 ms (missed cycles : 2). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091310 ms (missed cycles : 2).[0m ×2 + 45.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192587 ms (missed cycles : 3). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192587 ms (missed cycles : 3).[0m ×2 + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517842 ms (missed cycles : 3). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517842 ms (missed cycles : 3).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287251 ms (missed cycles : 3). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287251 ms (missed cycles : 3).[0m ×2 + 50.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437442 ms (missed cycles : 4). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437442 ms (missed cycles : 4).[0m ×2 + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201446 ms (missed cycles : 3). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201446 ms (missed cycles : 3).[0m ×2 + 52.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591351 ms (missed cycles : 4). + 52.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591351 ms (missed cycles : 4).[0m ×2 + 52.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818379 ms (missed cycles : 2). + 53.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818379 ms (missed cycles : 2).[0m ×2 + 54.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422715 ms (missed cycles : 2). + 54.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422715 ms (missed cycles : 2).[0m ×2 + 55.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765495 ms (missed cycles : 3). + 55.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765495 ms (missed cycles : 3).[0m ×2 + 56.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082090 ms (missed cycles : 4). + 56.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082090 ms (missed cycles : 4).[0m ×2 + 57.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 57.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 58.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 59.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 60.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 61.65sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 61.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 61.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 61.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 62.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 62.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 62.65sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 62.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 62.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 62.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 63.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 64.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 64.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	182 warnings · 156 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.45sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.45sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651791 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651791 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921509 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921509 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755737 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755737 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.855ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812700 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812700 ms (missed cycles : 3).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.163ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968885 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968885 ms (missed cycles : 3).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.803ms + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.348ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626055 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626055 ms (missed cycles : 3).[0m ×2 + 12.89sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 6.695ms + 13.39sINFOamclParticle filter update iteration stats: 4983 particles 723 points - 6.424ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932238 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932238 ms (missed cycles : 2).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 4166 particles 723 points - 7.477ms + 14.39sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 6.002ms + 14.61sINFOros2_control_nodeMuJoCo sim: 2.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 3086 particles 723 points - 5.139ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327464 ms (missed cycles : 4). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327464 ms (missed cycles : 4).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 3.923ms + 15.89sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 3.407ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034502 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034502 ms (missed cycles : 4).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 3.266ms + 16.89sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 3.897ms + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754094 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754094 ms (missed cycles : 2).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 3.148ms + 17.89sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 3.232ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348489 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348489 ms (missed cycles : 2).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 3.895ms + 18.89sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 3.354ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999772 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999772 ms (missed cycles : 2).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.524ms + 19.89sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.432ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098616 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098616 ms (missed cycles : 2).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.182ms + 20.89sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.064ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371939 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371939 ms (missed cycles : 3).[0m ×2 + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100529 ms (missed cycles : 4). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100529 ms (missed cycles : 4).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414658 ms (missed cycles : 3). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414658 ms (missed cycles : 3).[0m ×2 + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989103 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989103 ms (missed cycles : 2).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms ×2 + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577285 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577285 ms (missed cycles : 3).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511932 ms (missed cycles : 4). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511932 ms (missed cycles : 4).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760345 ms (missed cycles : 2). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760345 ms (missed cycles : 2).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626710 ms (missed cycles : 3). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626710 ms (missed cycles : 3).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544389 ms (missed cycles : 2). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544389 ms (missed cycles : 2).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813799 ms (missed cycles : 3). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813799 ms (missed cycles : 3).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618146 ms (missed cycles : 3). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618146 ms (missed cycles : 3).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680599 ms (missed cycles : 3). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680599 ms (missed cycles : 3).[0m ×2 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031960 ms (missed cycles : 2). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031960 ms (missed cycles : 2).[0m ×2 + 34.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678990 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678990 ms (missed cycles : 3).[0m ×2 + 36.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.00sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097893 ms (missed cycles : 2). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097893 ms (missed cycles : 2).[0m ×2 + 37.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980946 ms (missed cycles : 4). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980946 ms (missed cycles : 4).[0m ×2 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760940 ms (missed cycles : 3). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760940 ms (missed cycles : 3).[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002898 ms (missed cycles : 2). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002898 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977000 ms (missed cycles : 3). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977000 ms (missed cycles : 3).[0m ×2 + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979015 ms (missed cycles : 3). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979015 ms (missed cycles : 3).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910339 ms (missed cycles : 3). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910339 ms (missed cycles : 3).[0m ×2 + 43.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443960 ms (missed cycles : 3). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443960 ms (missed cycles : 3).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497899 ms (missed cycles : 4). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497899 ms (missed cycles : 4).[0m ×2 + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 46.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932207 ms (missed cycles : 3). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932207 ms (missed cycles : 3).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348430 ms (missed cycles : 3). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348430 ms (missed cycles : 3).[0m ×2 + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826023 ms (missed cycles : 3). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826023 ms (missed cycles : 3).[0m ×2 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849474 ms (missed cycles : 3). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849474 ms (missed cycles : 3).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852275 ms (missed cycles : 3). + 50.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852275 ms (missed cycles : 3).[0m ×2 + 51.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183229 ms (missed cycles : 4). + 51.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183229 ms (missed cycles : 4).[0m ×2 + 52.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628646 ms (missed cycles : 4). + 52.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628646 ms (missed cycles : 4).[0m ×2 + 52.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439826 ms (missed cycles : 3). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439826 ms (missed cycles : 3).[0m ×2 + 54.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479077 ms (missed cycles : 4). + 54.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479077 ms (missed cycles : 4).[0m ×2 + 55.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287348 ms (missed cycles : 2). + 55.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287348 ms (missed cycles : 2).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944564 ms (missed cycles : 3). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944564 ms (missed cycles : 3).[0m ×2 + 57.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034703 ms (missed cycles : 2). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034703 ms (missed cycles : 2).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932169 ms (missed cycles : 5). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932169 ms (missed cycles : 5).[0m ×2 + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324974 ms (missed cycles : 2). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324974 ms (missed cycles : 2).[0m ×2 + 60.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 61.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637645 ms (missed cycles : 3). + 61.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637645 ms (missed cycles : 3).[0m ×2 + 61.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785929940.87314916 seconds ×3 + 61.76sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.76sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.79sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.819ms + 61.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.719ms + 62.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.148ms + 62.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785929941.44296980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238205 ms (missed cycles : 2). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238205 ms (missed cycles : 2).[0m ×2 + 62.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 62.58sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 62.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020367 ms (missed cycles : 3). + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020367 ms (missed cycles : 3).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.8s	178 warnings · 166 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785929739.98216367 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 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.847ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.129ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785929740.53830743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.938e-06 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.181ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.845ms + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.010ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 7.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.381ms + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136027 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136027 ms (missed cycles : 4).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 8.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.652ms + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.249ms + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436849 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436849 ms (missed cycles : 3).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 4735 particles 723 points - 8.235ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571450 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571450 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 5.056ms + 10.80sINFOamclParticle filter update iteration stats: 2909 particles 723 points - 3.999ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412076 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412076 ms (missed cycles : 3).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 4.013ms + 11.79sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 3.303ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332266 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332266 ms (missed cycles : 2).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.045ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485272 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485272 ms (missed cycles : 3).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707838 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707838 ms (missed cycles : 3).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105155 ms (missed cycles : 4). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105155 ms (missed cycles : 4).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729826 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729826 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792407 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792407 ms (missed cycles : 3).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103454 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103454 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230822 ms (missed cycles : 2). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230822 ms (missed cycles : 2).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296027 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296027 ms (missed cycles : 2).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271321 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271321 ms (missed cycles : 3).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983007 ms (missed cycles : 3). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983007 ms (missed cycles : 3).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214664 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214664 ms (missed cycles : 2).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321104 ms (missed cycles : 2). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321104 ms (missed cycles : 2).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159945 ms (missed cycles : 4). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159945 ms (missed cycles : 4).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377075 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377075 ms (missed cycles : 2).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317958 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317958 ms (missed cycles : 3).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279563 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279563 ms (missed cycles : 2).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391581 ms (missed cycles : 3). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391581 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809315 ms (missed cycles : 3). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809315 ms (missed cycles : 3).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909520 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909520 ms (missed cycles : 2).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748087 ms (missed cycles : 3). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748087 ms (missed cycles : 3).[0m ×2 + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215101 ms (missed cycles : 2). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215101 ms (missed cycles : 2).[0m ×2 + 34.87sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901404 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901404 ms (missed cycles : 3).[0m ×2 + 35.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.52sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530724 ms (missed cycles : 5). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530724 ms (missed cycles : 5).[0m ×2 + 36.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748858 ms (missed cycles : 3). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748858 ms (missed cycles : 3).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 38.01sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.147ms + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668763 ms (missed cycles : 3). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668763 ms (missed cycles : 3).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 38.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 39.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553193 ms (missed cycles : 4). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553193 ms (missed cycles : 4).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997884 ms (missed cycles : 3). + 40.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997884 ms (missed cycles : 3).[0m ×2 + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 41.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242149 ms (missed cycles : 5). + 41.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242149 ms (missed cycles : 5).[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554787 ms (missed cycles : 3). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554787 ms (missed cycles : 3).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690852 ms (missed cycles : 3). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690852 ms (missed cycles : 3).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766901 ms (missed cycles : 3). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766901 ms (missed cycles : 3).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473946 ms (missed cycles : 4). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473946 ms (missed cycles : 4).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041642 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041642 ms (missed cycles : 2).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709371 ms (missed cycles : 2). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709371 ms (missed cycles : 2).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845236 ms (missed cycles : 4). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845236 ms (missed cycles : 4).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282032 ms (missed cycles : 3). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282032 ms (missed cycles : 3).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 51.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673157 ms (missed cycles : 3). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673157 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 52.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627513 ms (missed cycles : 4). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627513 ms (missed cycles : 4).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186648 ms (missed cycles : 4). + 53.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186648 ms (missed cycles : 4).[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470232 ms (missed cycles : 3). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470232 ms (missed cycles : 3).[0m ×2 + 54.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682324 ms (missed cycles : 3). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682324 ms (missed cycles : 3).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054244 ms (missed cycles : 4). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054244 ms (missed cycles : 4).[0m ×2 + 57.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207342 ms (missed cycles : 3). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207342 ms (missed cycles : 3).[0m ×2 + 57.93sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785929793.73843575 seconds ×3 + 57.97sWARNlocal_costmap.local_costmapSensor origin at (-1.86, 10.68) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 57.97sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 11.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.931ms + 58.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.316ms + 58.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785929794.29723573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390534 ms (missed cycles : 3). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390534 ms (missed cycles : 3).[0m ×2 + 58.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.806ms + 58.96sINFOobjective_server_nodeFound path in 0 iterations (8.82e-07 s). ×2 + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.566ms + 59.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 59.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651412 ms (missed cycles : 3). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651412 ms (missed cycles : 3).[0m ×2 + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 59.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.908ms + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.739ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 5.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293136 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293136 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621453 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621453 ms (missed cycles : 3).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369952 ms (missed cycles : 3). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369952 ms (missed cycles : 3).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966887 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966887 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809454 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809454 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617683 ms (missed cycles : 3). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617683 ms (missed cycles : 3).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190677 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190677 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923376 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923376 ms (missed cycles : 2).[0m ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990326 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990326 ms (missed cycles : 3).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431045 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431045 ms (missed cycles : 3).[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993282 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993282 ms (missed cycles : 3).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628954 ms (missed cycles : 3). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628954 ms (missed cycles : 3).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786052 ms (missed cycles : 3). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786052 ms (missed cycles : 3).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.197ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473463 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473463 ms (missed cycles : 3).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894849 ms (missed cycles : 2). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894849 ms (missed cycles : 2).[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623813 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623813 ms (missed cycles : 2).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489963 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489963 ms (missed cycles : 3).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959844 ms (missed cycles : 2). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959844 ms (missed cycles : 2).[0m ×2 + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824137 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824137 ms (missed cycles : 2).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194684 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194684 ms (missed cycles : 2).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768524 ms (missed cycles : 4). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768524 ms (missed cycles : 4).[0m ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267289 ms (missed cycles : 2). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267289 ms (missed cycles : 2).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648695 ms (missed cycles : 3). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648695 ms (missed cycles : 3).[0m ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953042 ms (missed cycles : 3). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953042 ms (missed cycles : 3).[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458775 ms (missed cycles : 3). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458775 ms (missed cycles : 3).[0m ×2 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262017 ms (missed cycles : 3). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262017 ms (missed cycles : 3).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851196 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851196 ms (missed cycles : 2).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969555 ms (missed cycles : 2). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969555 ms (missed cycles : 2).[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742632 ms (missed cycles : 3). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742632 ms (missed cycles : 3).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368680 ms (missed cycles : 3). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368680 ms (missed cycles : 3).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866151 ms (missed cycles : 3). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866151 ms (missed cycles : 3).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097854 ms (missed cycles : 2). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097854 ms (missed cycles : 2).[0m ×2 + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493892 ms (missed cycles : 3). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493892 ms (missed cycles : 3).[0m ×2 + 43.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2). + 43.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2).[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2).[0m ×2 + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4).[0m ×2 + 47.32sINFOjoint_trajectory_controllerGoal reached, success! + 47.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2). + 47.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785929641.18374443 seconds ×3 + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2).[0m ×2 + 47.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785929641.74104691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3).[0m ×2 + 49.02sINFOobjective_server_nodeFound path in 0 iterations (2.6458e-05 s). ×2 + 49.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.5s	110 warnings · 114 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263974 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263974 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.005ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139567 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139567 ms (missed cycles : 3).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.91sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785929707.52692842 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617395 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617395 ms (missed cycles : 3).[0m ×2 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.46sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785929709.08199644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385781 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385781 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063961 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063961 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928319 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928319 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.95sINFOjoint_trajectory_controllerReceived new action goal + 6.95sINFOjoint_trajectory_controllerAccepted new action goal + 6.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683471 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683471 ms (missed cycles : 3).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723924 ms (missed cycles : 3). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723924 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.174ms + 9.20sINFOros2_control_nodeMuJoCo sim: 0.60% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.776ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736196 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736196 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.696ms + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.561ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710397 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710397 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.018ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744939 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744939 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.949ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205701 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205701 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.422ms + 13.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.560ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264540 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264540 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.465ms + 14.70sINFOamclParticle filter update iteration stats: 4745 particles 723 points - 6.230ms + 15.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 5.446ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107185 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107185 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 4384 particles 723 points - 6.482ms + 16.19sINFOamclParticle filter update iteration stats: 4135 particles 723 points - 5.136ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745757 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745757 ms (missed cycles : 2).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 5.003ms + 17.19sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 4.511ms + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730897 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730897 ms (missed cycles : 2).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 3492 particles 723 points - 4.479ms + 18.19sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 4.769ms + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770309 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770309 ms (missed cycles : 3).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 3.478ms + 19.19sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 4.109ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591144 ms (missed cycles : 3). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591144 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.374ms + 20.19sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.721ms + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658841 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658841 ms (missed cycles : 3).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092699 ms (missed cycles : 4). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092699 ms (missed cycles : 4).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334881 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334881 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139594 ms (missed cycles : 3). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139594 ms (missed cycles : 3).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438446 ms (missed cycles : 3). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438446 ms (missed cycles : 3).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665197 ms (missed cycles : 2). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665197 ms (missed cycles : 2).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026332 ms (missed cycles : 2). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026332 ms (missed cycles : 2).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206175 ms (missed cycles : 3). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206175 ms (missed cycles : 3).[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747270 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747270 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550443 ms (missed cycles : 4). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550443 ms (missed cycles : 4).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3).[0m ×2 + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3).[0m ×2 + 35.36sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785929739.98216367 seconds ×3 + 35.46sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.46sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 35.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.847ms + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2).[0m ×2 + 35.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.129ms + 35.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785929740.53830743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 36.38sINFOobjective_server_nodeFound path in 0 iterations (1.938e-06 s). ×2 + 36.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.181ms + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.845ms + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.010ms + 37.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 37.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.9s	59 warnings · 135 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034703 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034703 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932169 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932169 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324974 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324974 ms (missed cycles : 2).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637645 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637645 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1785929940.87314916 seconds ×3 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.86sINFOamclParticle filter update iteration stats: 2135 particles 723 points - 2.819ms + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.719ms + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.148ms + 4.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1785929941.44296980 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 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238205 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238205 ms (missed cycles : 2).[0m ×2 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020367 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020367 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828015 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828015 ms (missed cycles : 3).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.829ms + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106593 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106593 ms (missed cycles : 3).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209127 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209127 ms (missed cycles : 2).[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (1.09e-06 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.27sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (1.329e-06 s). ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690815 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690815 ms (missed cycles : 4).[0m ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 10.02sINFOobjective_server_nodeFound path in 29 iterations (0.0428179 s). ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 10.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.88sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288151 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288151 ms (missed cycles : 2).[0m ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.63sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772618 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772618 ms (missed cycles : 3).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096171 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096171 ms (missed cycles : 3).[0m ×2 + 13.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.932ms + 14.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990547 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990547 ms (missed cycles : 3).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 15.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.000ms + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3).[0m ×2 + 16.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 16.69sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2).[0m ×2 + 17.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785929954.77816534 seconds ×3 + 17.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.230ms + 18.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 18.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785929955.37169552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.22sINFOmove_groupClearing octomap...[0m ×2 + 18.22sINFOmove_groupOctomap cleared.[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.896ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3).[0m ×2 + 18.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 18.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785929955.98181915 seconds ×3 + 18.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 19.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 19.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 19.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785929956.53561473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 19.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785929957.03573847 seconds ×3 + 19.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 20.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	90 errors · 33 warnings · 397 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.000ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 2.02sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785929954.77816534 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.230ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785929955.37169552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.896ms + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785929955.98181915 seconds ×3 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785929956.53561473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785929957.03573847 seconds ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 5.45sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.964ms + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418078 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418078 ms (missed cycles : 3).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.447ms + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888955 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888955 ms (missed cycles : 3).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834724 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834724 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038916 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038916 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447348 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447348 ms (missed cycles : 3).[0m ×2 + 10.96sERRORweb_video_auth_proxy-34process[web_video_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge_auth_proxy-33process[web_bridge_auth_proxy-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORvideo_server-32process[video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sINFOweb_video_auth_proxy-34sending signal 'SIGTERM' to process[web_video_auth_proxy-34] ×2 + 11.02sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORweb_video_auth_proxy-34process has died [pid 9454, 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 + 11.03sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_bridge_auth_proxy-33sending signal 'SIGTERM' to process[web_bridge_auth_proxy-33] ×2 + 11.06sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORweb_bridge_auth_proxy-33process has died [pid 9451, 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 + 11.07sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sINFOvideo_server-32sending signal 'SIGTERM' to process[video_server-32] ×2 + 11.13sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.15sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.17sINFOvideo_server-32process has finished cleanly [pid 9448] ×2 + 11.17sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.20sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.22sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.25sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367247 ms (missed cycles : 3). + 11.28sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.30sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.33sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.36sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.39sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.41sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9445] ×2 + 11.42sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.46sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.46sINFOcontroller_managerShutdown request received.... + 11.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down the controller manager. + 11.47sINFOlaunchprocess[web_bridge_auth_proxy-33] was required: shutting down launched system ×2 + 11.47sERRORmove_group-20process has died [pid 9416, 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_4w0zoy_q --params-file /tmp/launch_params_pzg1wlzo --params-file /tmp/launch_params_9fvghrq0 --params-file /tmp/launch_params_xta2aow1 --params-file /tmp/launch_params_3s26fid4 --params-file /tmp/launch_params_sspkap0g']. ×2 + 11.48sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.51sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.51sINFOui_teleop_bridge-29process has finished cleanly [pid 9443] ×2 + 11.53sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.53sINFOcomponent_container_mt-27process has finished cleanly [pid 9441] ×2 + 11.56sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.57sINFOexecute_objective_bridge-28process has finished cleanly [pid 9442] ×2 + 11.57sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1785929963.090 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.58sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.60sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.60sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.61sINFOmap_serverDeactivating + 11.61sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.62sINFOmap_serverCleaning up + 11.62sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.62sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.63sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.63sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.63sINFOcontroller_serverDeactivating + 11.63sINFOlocal_costmap.local_costmapDeactivating + 11.63sINFOvideo_server2026/08/05 11:39:22 INF shutting down gracefully ×2 + 11.63sINFOvideo_server2026/08/05 11:39:22 INF [WebRTC] closing ×2 + 11.63sINFOvideo_server2026/08/05 11:39:22 INF [RTSP] closing ×2 + 11.63sINFOvideo_server2026/08/05 11:39:22 INF waiting for running hooks ×2 + 11.63sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367247 ms (missed cycles : 3).[0m ×2 + 11.63sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.63sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.63sERRORamclThe bond connection to the lifecycle manager has been broken + 11.63sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.64sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.64sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.64sERRORmove_groupStack trace (most recent call last) in thread 9999: ×2 + 11.64sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.64sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40ee72aa63, in __clone ×2 + 11.64sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40ee69daa3, in ×2 + 11.64sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40ee92fdb3, in ×2 + 11.64sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f40ef09bed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.64sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f40eecc1620, in rclcpp::Rate::sleep() ×2 + 11.64sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f40eec03d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.64sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f40eebc5087, in ×2 + 11.64sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40ee8fe390, in __cxa_throw ×2 + 11.64sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40ee8e8a54, in std::terminate() ×2 + 11.64sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40ee8fe0d9, in ×2 + 11.64sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f40ee8e8ff4, in ×2 + 11.64sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40ee6298fe, in abort ×2 + 11.64sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40ee64627d, in raise ×2 + 11.64sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f40ee69fb2c, in pthread_kill ×2 + 11.64sERRORmove_groupAborted (Signal sent by tkill() 9416 0) ×2 + 11.64sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.64sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.64sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.64sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.64sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.64sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.64sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.64sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.65sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.65sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.65sINFOodom_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 + 11.65sINFOodom_qos_relay.pymain() ×2 + 11.65sINFOodom_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 + 11.65sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.65sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.65sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.65sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.65sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.65sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.65sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.65sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.65sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.65sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.66sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.67sINFOcontroller_serverCleaning up + 11.67sINFOlocal_costmap.local_costmapCleaning up + 11.67sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.67sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.68sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.71sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.71sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.71sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.71sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.71sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.71sINFOvelocity_smootherDeactivating + 11.71sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.72sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.72sINFOsmoother_serverDeactivating + 11.72sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.73sINFOsmoother_serverCleaning up + 11.74sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.74sINFOplanner_serverDeactivating + 11.74sINFOglobal_costmap.global_costmapDeactivating + 11.84sERRORcomponent_container_isolated-2process has died [pid 9321, 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__s_yn3ki --params-file /tmp/launch_params_sy94orad -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.84sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.84sINFOwaypoint_followerDeactivating + 11.84sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.95sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.95sINFObt_navigatorDeactivating + 11.95sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.07sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.07sINFObehavior_serverDeactivating + 12.07sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.18sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.18sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.18sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.18sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.18sINFOvelocity_smootherCleaning up + 12.18sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.18sINFOwaypoint_followerCleaning up + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.21sINFObt_navigatorCleaning up + 12.28sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.28sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.29sINFOplanner_serverCleaning up + 12.30sINFOglobal_costmap.global_costmapCleaning up + 12.31sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.31sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.35sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.35sINFObehavior_serverCleaning up + 12.35sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.35sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.35sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.35sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.36sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9438] ×2 + 12.38sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9419] ×2 + 12.39sINFObt_navigatorCompleted Cleaning up + 12.39sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.44sINFOwaypoint_manager_node-22process has finished cleanly [pid 9418] ×2 + 12.44sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.44sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.44sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.44sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.44sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.44sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.44sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.45sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.45sINFOobjective_server_node[2026-08-05 11:39:24.265] [moveit_pro_license] [info] ×2 + 12.45sINFOobjective_server_node************************************************* ×4 + 12.45sINFOobjective_server_node* MoveIt Pro License ×2 + 12.45sINFOobjective_server_node* Application has successfully terminated ×2 + 12.46sINFOparameter_manager_node-21process has finished cleanly [pid 9417] ×2 + 12.47sINFOcomponent_container_mt-26process has finished cleanly [pid 9440] ×2 + 12.51sINFOobjective_server_node_main-25process has finished cleanly [pid 9439] ×2 + 12.51sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 12.53sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9326] ×2 + 12.55sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9325] ×2 + 12.60sINFOstatic_transform_publisher-4process has finished cleanly [pid 9323] ×2 + 12.63sINFOstatic_transform_publisher-3process has finished cleanly [pid 9322] ×2 + 12.63sERRORodom_qos_relay.py-5process has died [pid 9324, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.72sERRORcomponent_container_isolated-1process has died [pid 9320, exit code -11, 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__s_yn3ki --params-file /tmp/launch_params_s34xr2e6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.94sINFOweb_bridge-30process has finished cleanly [pid 9444] ×2 + 13.94sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.18sINFOros2_control_node-8process has finished cleanly [pid 9327] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 50 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470232 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470232 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682324 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682324 ms (missed cycles : 3).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054244 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054244 ms (missed cycles : 4).[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207342 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207342 ms (missed cycles : 3).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1785929793.73843575 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-1.86, 10.68) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 11.17) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.931ms + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.316ms + 4.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1785929794.29723573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390534 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390534 ms (missed cycles : 3).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.806ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (8.82e-07 s). ×2 + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.566ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.913ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651412 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651412 ms (missed cycles : 3).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.908ms + 5.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.739ms + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.253ms + 6.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917832 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917832 ms (missed cycles : 4).[0m ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.964ms + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.049ms + 7.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.129ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604765 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604765 ms (missed cycles : 3).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.382ms + 7.66sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 6.409ms + 8.27sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 4.823ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911643 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911643 ms (missed cycles : 2).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 3.280ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451508 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451508 ms (missed cycles : 4).[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 1851 particles 723 points - 2.779ms + 10.36sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.157ms + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209383 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209383 ms (missed cycles : 4).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.565ms + 11.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 11.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397544 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397544 ms (missed cycles : 3).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533423 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533423 ms (missed cycles : 3).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546088 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546088 ms (missed cycles : 2).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 14.61sINFOobjective_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 + 14.62sINFOjoint_trajectory_controllerGot request to cancel goal + 14.62sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.62sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.63sERRORobjective_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: 1785929804.78350186 seconds ×3 + 14.77sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 2.799ms + 14.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 15.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.638ms + 15.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1785929805.33757114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159044 ms (missed cycles : 4). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159044 ms (missed cycles : 4).[0m ×2 + 15.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.732ms + 15.58sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 15.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 16.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.118ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165501 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165501 ms (missed cycles : 2).[0m ×2 + 16.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.827ms + 16.67sINFOamclParticle filter update iteration stats: 3565 particles 723 points - 8.057ms + 16.97sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.625ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.7s	38 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2 + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.504ms + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263974 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263974 ms (missed cycles : 2).[0m ×2 + 7.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.005ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139567 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139567 ms (missed cycles : 3).[0m ×2 + 8.69sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1785929707.52692842 seconds ×3 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617395 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617395 ms (missed cycles : 3).[0m ×2 + 10.25sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1785929709.08199644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385781 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385781 ms (missed cycles : 3).[0m ×2 + 10.65sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063961 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063961 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	33 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233893 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233893 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514252 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514252 ms (missed cycles : 4).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852803 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852803 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970716 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970716 ms (missed cycles : 3).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1785929878.66774774 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.843ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712712 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712712 ms (missed cycles : 3).[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 4.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 8.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 9.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.8s	30 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2). + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785929641.18374443 seconds ×3 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785929641.74104691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.6458e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703404 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703404 ms (missed cycles : 2).[0m ×2 + 8.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785929644.96117783 seconds ×3 + 8.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785929645.52619076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415752 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415752 ms (missed cycles : 3).[0m ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130027 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130027 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.932ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990547 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990547 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.000ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 3.32sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785929954.77816534 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.230ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785929955.37169552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.85sINFOmove_groupClearing octomap...[0m ×2 + 4.85sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.896ms + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 5.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785929955.98181915 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 6.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785929956.53561473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 6.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785929957.03573847 seconds ×3 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 6.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.964ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418078 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418078 ms (missed cycles : 3).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.447ms
− 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 2.098500 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2). + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785929641.18374443 seconds ×3 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785929641.74104691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.6458e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098500 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780837 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063957 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002134 ms (missed cycles : 4).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2). + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785929641.18374443 seconds ×3 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785929641.74104691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.6458e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.89sINFOjoint_trajectory_controllerReceived new action goal + 5.89sINFOjoint_trajectory_controllerAccepted new action goal + 5.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 5.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 50 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2). + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1785929641.18374443 seconds ×3 + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239730 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1785929641.74104691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671731 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (2.6458e-05 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.72sINFOjoint_trajectory_controllerReceived new action goal + 1.72sINFOjoint_trajectory_controllerAccepted new action goal + 1.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810300 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703404 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703404 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1785929644.96117783 seconds ×3 + 4.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1785929645.52619076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415752 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415752 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130027 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130027 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878177 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927449 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927901 ms (missed cycles : 3).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1785929702.78634024 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.059ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238536 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.352ms + 4.53sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1785929703.36678815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.800ms + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.560ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876854 ms (missed cycles : 2).[0m ×2 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.418ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356899 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	23 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785929739.98216367 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 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.847ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.129ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785929740.53830743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.938e-06 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.181ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.845ms + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.010ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	23 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785929739.98216367 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 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.847ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.129ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785929740.53830743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.938e-06 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.181ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.845ms + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.010ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	23 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235993 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436659 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976969 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818279 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1785929739.98216367 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 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.847ms + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779287 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.129ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1785929740.53830743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.379ms + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.938e-06 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.181ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.845ms + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393034 ms (missed cycles : 4).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.010ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.278ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653406 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.198ms + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1785929879.22955918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.168ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.427ms + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866530 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.429ms + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310000 ms (missed cycles : 2).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018457 ms (missed cycles : 4).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.282ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778170 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1785929883.52970195 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1785929884.10302353 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569626 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223137 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.932ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990547 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990547 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.000ms + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183503 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123673 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 3.32sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930984 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1785929954.77816534 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.230ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785929955.37169552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.85sINFOmove_groupClearing octomap...[0m ×2 + 4.85sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.896ms + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884467 ms (missed cycles : 3).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 5.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785929955.98181915 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 6.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785929956.53561473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292564 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 6.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785929957.03573847 seconds ×3 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 6.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2

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

7 skip

− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_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	24 warnings · 138 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 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. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_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 + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 7.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 7.33sINFOjoint_trajectory_controllerReceived new action goal + 7.33sINFOjoint_trajectory_controllerAccepted new action goal + 7.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.33sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 130 info
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.51sINFOmove_groupClearing octomap...[0m ×2 + 4.51sINFOmove_groupOctomap cleared.[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 7.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 112 info
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.51sINFOmove_groupClearing octomap...[0m ×2 + 4.51sINFOmove_groupOctomap cleared.[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 129 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275824 ms (missed cycles : 2).[0m ×2 + 0.44sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.45sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.55sINFObehavior_serverActivating + 0.55sINFObehavior_serverActivating spin + 0.55sINFObehavior_serverActivating backup + 0.55sINFObehavior_serverActivating drive_on_heading + 0.55sINFObehavior_serverActivating assisted_teleop + 0.55sINFObehavior_serverActivating wait + 0.55sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.66sINFObt_navigatorActivating + 0.71sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.82sINFOwaypoint_followerActivating + 0.82sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.92sINFOvelocity_smootherActivating + 0.92sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.02sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.02sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.02sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.90sINFOmove_groupClearing octomap...[0m ×2 + 3.90sINFOmove_groupOctomap cleared.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.79sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 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. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_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 + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_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.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_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 · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_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 · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_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 · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	24 warnings · 119 info
+ 0.00sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.00sINFOvelocity_smootherActivating + 0.00sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.10sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975358 ms (missed cycles : 2).[0m ×2 + 1.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863852 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374090 ms (missed cycles : 4).[0m ×2 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929595.59868979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929595.60892534 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105646 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929596.18328953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929596.19341683 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929596.74425149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929596.89486670 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350516 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929597.47625971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929597.54638147 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1785929598.10553885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445875 ms (missed cycles : 3).[0m ×2 + 6.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588660 ms (missed cycles : 3).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2