69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.3s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 31.1s | 53 errors · 873 warnings · 1969 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/2026-08-07-01-54-36-094183-acf72966c637-9393 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.94sINFOros2_control_node-9process started with pid [9451] + 13.94sINFOmove_group-21process started with pid [9540] + 13.94sINFOparameter_manager_node-22process started with pid [9541] + 13.94sINFOwaypoint_manager_node-23process started with pid [9542] + 13.94sINFOmove_joint_resampler_node-24process started with pid [9564] + 13.94sINFOmove_end_effector_resampler_node-25process started with pid [9566] + 13.94sINFOobjective_server_node_main-26process started with pid [9567] + 13.94sINFOcomponent_container_mt-27process started with pid [9568] + 13.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.95sINFOcomponent_container_mt-28process started with pid [9569] + 13.95sINFOexecute_objective_bridge-29process started with pid [9570] + 13.95sINFOui_teleop_bridge-30process started with pid [9571] + 13.95sINFOweb_bridge-31process started with pid [9572] + 13.95sINFOtf2_web_republisher_node-32process started with pid [9573] + 13.95sINFOvideo_server-33process started with pid [9574] + 13.95sINFOweb_bridge_auth_proxy-34process started with pid [9577] + 13.95sINFOweb_video_auth_proxy-35process started with pid [9580] + 13.96sINFOcomponent_container_isolated-1process started with pid [9443] + 13.96sINFOcomponent_container_isolated-2process started with pid [9444] + 13.96sINFOstatic_transform_publisher-3process started with pid [9445] + 13.96sINFOstatic_transform_publisher-4process started with pid [9446] + 13.96sINFOodom_qos_relay.py-5process started with pid [9447] + 13.96sINFOforward_stereo_publisher.py-6process started with pid [9448] + 13.96sINFOscan_to_scan_filter_chain-7process started with pid [9449] + 13.96sINFOscan_to_scan_filter_chain-8process started with pid [9450] + 13.96sINFOros2-10process started with pid [9529] + 13.96sINFOros2-11process started with pid [9530] + 13.96sINFOros2-12process started with pid [9531] + 13.98sINFOros2-13process started with pid [9532] + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 13.98sINFOros2-14process started with pid [9533] + 13.98sINFOros2-15process started with pid [9534] + 13.98sINFOros2-16process started with pid [9535] + 13.98sINFOros2-17process started with pid [9536] + 13.98sINFOros2-18process started with pid [9537] + 13.98sINFOros2-19process started with pid [9538] + 13.98sINFOros2-20process started with pid [9539] + 14.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.14sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.14sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.14sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.14sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.15sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 14.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.16sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.16sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.16sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.16sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.16sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675510 ms (missed cycles : 2).[0m + 14.19sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.23sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.25sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.25sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.30sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.32sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.63sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 14.68sINFOvideo_server2026/08/07 01:54:54 INF MediaMTX v1.19.3, linux, amd64 + 14.69sINFOvideo_server2026/08/07 01:54:54 INF configuration loaded from /tmp/moveit-webrtc-kvjzk549/mediamtx.yml + 14.69sINFOvideo_server2026/08/07 01:54:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 14.69sINFOvideo_server2026/08/07 01:54:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 14.95sINFOmove_groupLoaded robot model in 0.385951 seconds[0m + 14.95sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.95sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.16sINFOwaypoint_manager_nodeLoaded robot model in 0.415755 seconds[0m + 15.16sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.16sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785384 ms (missed cycles : 2).[0m + 15.76sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 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.[0m ×3 + 15.82sWARNwaypoint_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 ×3 + 15.82sWARNwaypoint_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 ×3 + 15.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.83sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.21sINFOmove_group[2026-08-07 01:54:55.678] [moveit_pro_license] [info] + 16.21sINFOmove_group************************************************* ×6 + 16.21sINFOmove_group* MoveIt Pro License ×3 + 16.21sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.21sINFOwaypoint_manager_node[2026-08-07 01:54:55.680] [moveit_pro_license] [info] + 16.21sINFOwaypoint_manager_node************************************************* ×6 + 16.21sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.21sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381485 ms (missed cycles : 2).[0m + 16.47sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 16.83sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 16.83sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 16.84sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.84sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 16.84sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 16.84sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.84sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 16.84sINFOmove_groupStopped publishing maintained planning scene.[0m ×4 + 16.85sINFOmove_groupStarting planning scene monitor[0m ×3 + 16.85sINFOmove_groupListening to '/planning_scene'[0m ×3 + 16.85sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 16.85sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.85sINFOmove_groupListening to 'collision_object'[0m ×3 + 16.85sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.16sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.16sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.16sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.16sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.16sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.16sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.16sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.16sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.16sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.16sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.16sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.16sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.16sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.16sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.16sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.18sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 17.23sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 17.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 17.24sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 17.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 17.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 17.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 17.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 17.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 17.29sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 17.43sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622685 ms (missed cycles : 2).[0m + 17.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 17.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 17.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 17.66sINFOros2-12process has finished cleanly [pid 9531] + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 17.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 17.70sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 17.70sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 17.70sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 17.71sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 17.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.71sINFOros2_control_nodeconfigure successful[0m ×9 + 17.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 17.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 17.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 17.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 17.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 17.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 17.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 17.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 17.91sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 17.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 17.96sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 18.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.04sINFOobjective_server_node[2026-08-07 01:54:57.506] [moveit_pro_license] [info] + 18.04sINFOobjective_server_node************************************************* ×8 + 18.04sINFOobjective_server_node* MoveIt Pro License ×4 + 18.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 18.05sINFOros2-10process has finished cleanly [pid 9529] + 18.14sINFOobjective_server_nodeLoaded robot model in 0.046534 seconds[0m + 18.14sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.14sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.18sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.19sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.19sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.19sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 18.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.32sINFOcomponent_container_mtLoaded robot model in 0.364029 seconds[0m + 18.33sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.33sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.52sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.52sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 18.56sINFOros2-16process has finished cleanly [pid 9535] + 18.56sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.56sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.56sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.56sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.56sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.56sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.56sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.57sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.59sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 18.59sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 18.62sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 18.62sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 18.63sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 18.63sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 18.64sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.64sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.64sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.64sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.64sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.64sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.64sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.64sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 18.64sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 18.64sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 18.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 18.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034812 ms (missed cycles : 2).[0m + 18.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 18.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 18.72sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.73sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 18.76sINFOmove_group ×12 + 18.76sINFOmove_group******************************************************** ×6 + 18.76sINFOmove_group* MoveGroup using: ×3 + 18.76sINFOmove_group* - apply_planning_scene_service ×3 + 18.76sINFOmove_group* - clear_octomap_service ×3 + 18.76sINFOmove_group* - get_group_urdf ×3 + 18.76sINFOmove_group* - load_geometry_from_file ×3 + 18.76sINFOmove_group* - get_planning_scene_service ×3 + 18.76sINFOmove_group* - kinematics_service ×3 + 18.76sINFOmove_group* - save_geometry_to_file ×3 + 18.76sINFOmove_group* - GetPlanningGroups ×3 + 18.76sINFOmove_group* - URDFPlanningSceneCapability ×3 + 18.76sINFOmove_group[0m ×3 + 18.76sINFOmove_group[92mYou can start planning now![0m ×3 + 18.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.77sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.94sINFOcomponent_container_mt[2026-08-07 01:54:58.406] [moveit_pro_license] [info] + 18.94sINFOcomponent_container_mt************************************************* ×6 + 18.94sINFOcomponent_container_mt* MoveIt Pro License ×3 + 18.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.96sWARNros2_control_nodeCamera render tick took 0.68 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 19.14sINFOros2_control_node[2026-08-07 01:54:58.610] [warning] No force/torque sensor configured. The VFC will ignore force references. + 19.15sINFOros2_control_node[2026-08-07 01:54:58.614] [info] Controller state will be published at 10 Hz. + 19.15sINFOros2_control_node[2026-08-07 01:54:58.615] [info] VelocityForceController 'on_configure' succeeded. + 19.29sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 19.30sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 19.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 19.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 19.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 19.50sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.50sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 19.51sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 19.51sINFOros2-18process has finished cleanly [pid 9537] + 19.57sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 19.57sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 19.58sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 19.59sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168050 ms (missed cycles : 2).[0m + 19.91sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 19.91sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 19.92sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 19.92sINFOros2-13process has finished cleanly [pid 9532] + 19.98sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 19.99sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 19.99sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 20.00sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 20.12sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 20.33sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 20.33sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 20.33sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 20.35sINFOros2-11process has finished cleanly [pid 9530] + 20.40sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 20.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983130 ms (missed cycles : 2).[0m + 20.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 20.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 20.82sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 20.83sINFOros2-15process has finished cleanly [pid 9534] + 20.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 20.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 20.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 21.34sINFOros2_control_node[2026-08-07 01:55:00.809] [info] Controller state will be published at 20 Hz. + 21.34sINFOros2_control_node[2026-08-07 01:55:00.810] [info] JointVelocityController 'on_configure' succeeded. + 21.68sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 21.68sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 21.68sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 21.70sINFOros2-19process has finished cleanly [pid 9538] + 21.76sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 21.76sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452939 ms (missed cycles : 3).[0m + 22.13sINFOros2_control_node[2026-08-07 01:55:01.593] [info] Controller state will be published at 20 Hz. + 22.13sINFOros2_control_node[2026-08-07 01:55:01.594] [info] JointVelocityController 'on_configure' succeeded. + 22.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 22.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 22.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 22.50sINFOros2-20process has finished cleanly [pid 9539] + 22.54sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 22.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175860 ms (missed cycles : 3).[0m + 22.94sINFOros2_control_node[2026-08-07 01:55:02.410] [warning] No force/torque sensor configured. The VFC will ignore force references. + 22.95sINFOros2_control_node[2026-08-07 01:55:02.413] [info] Controller state will be published at 10 Hz. + 22.95sINFOros2_control_node[2026-08-07 01:55:02.414] [info] VelocityForceController 'on_configure' succeeded. + 23.32sINFOros2-17process has finished cleanly [pid 9536] + 23.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 23.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 23.34sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5cvxi5ov --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_mc0xfora --params-file /tmp/launch_params_kcjkpj5w [0m + 23.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 23.41sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 23.41sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 23.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 23.41sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 23.42sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 23.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 23.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 23.76sINFOros2-14process has finished cleanly [pid 9533] + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492994 ms (missed cycles : 2).[0m + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753651 ms (missed cycles : 2).[0m + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963947 ms (missed cycles : 2).[0m + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605225 ms (missed cycles : 2).[0m + 27.19sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836360 ms (missed cycles : 2).[0m + 28.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067708.24079466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 28.77sINFOmove_groupClearing octomap...[0m ×4 + 28.78sINFOmove_groupOctomap cleared.[0m ×4 + 28.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067708.25098467 seconds + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235621 ms (missed cycles : 2).[0m + 29.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067708.81798792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067708.82812929 seconds + 29.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067709.38557506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067709.53614569 seconds + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899536 ms (missed cycles : 2).[0m + 30.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067710.13364482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.68sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 30.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 30.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 30.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 30.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 30.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067710.18376541 seconds + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608300 ms (missed cycles : 2).[0m + 31.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786067710.74338388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 31.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 31.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 31.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900493 ms (missed cycles : 2).[0m + 32.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×7 + 32.36sINFOobjective_server_nodePlanning for 177 path waypoints. + 32.65sINFOros2_control_nodeReceived new action goal[0m ×18 + 32.65sINFOros2_control_nodeAccepted new action goal[0m ×18 + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744036 ms (missed cycles : 3).[0m + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936120 ms (missed cycles : 3).[0m + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314964 ms (missed cycles : 2).[0m + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317680 ms (missed cycles : 3).[0m + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691785 ms (missed cycles : 2).[0m + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803525 ms (missed cycles : 2).[0m + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127990 ms (missed cycles : 3).[0m + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862832 ms (missed cycles : 3).[0m + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975351 ms (missed cycles : 2).[0m + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181589 ms (missed cycles : 2).[0m + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798636 ms (missed cycles : 3).[0m + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664698 ms (missed cycles : 3).[0m + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492368 ms (missed cycles : 3).[0m + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950490 ms (missed cycles : 2).[0m + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903399 ms (missed cycles : 2).[0m + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734716 ms (missed cycles : 3).[0m + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186023 ms (missed cycles : 3).[0m + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072703 ms (missed cycles : 2).[0m + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932603 ms (missed cycles : 3).[0m + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085091 ms (missed cycles : 2).[0m + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826722 ms (missed cycles : 3).[0m + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037548 ms (missed cycles : 2).[0m + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633736 ms (missed cycles : 3).[0m + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304754 ms (missed cycles : 3).[0m + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821940 ms (missed cycles : 3).[0m + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236224 ms (missed cycles : 2).[0m + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500762 ms (missed cycles : 2).[0m + 61.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066271 ms (missed cycles : 2).[0m + 63.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800584 ms (missed cycles : 3).[0m + 64.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212095 ms (missed cycles : 2).[0m + 65.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191393 ms (missed cycles : 2).[0m + 66.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093330 ms (missed cycles : 2).[0m + 67.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201694 ms (missed cycles : 2).[0m + 68.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231143 ms (missed cycles : 3).[0m + 69.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339235 ms (missed cycles : 2).[0m + 70.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.739946 ms (missed cycles : 3).[0m + 71.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726205 ms (missed cycles : 2).[0m + 72.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057860 ms (missed cycles : 4).[0m + 73.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073473 ms (missed cycles : 2).[0m + 74.33sINFOros2_control_nodeGoal reached, success![0m ×16 + 74.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786067753.82733679 seconds + 74.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871342 ms (missed cycles : 3).[0m + 74.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786067754.38310862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149254 ms (missed cycles : 2).[0m + 76.08sINFOobjective_server_nodeFound path in 0 iterations (2.6272e-05 s). + 76.08sINFOobjective_server_nodePath shortcutter: [X____X] + 76.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 76.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846427 ms (missed cycles : 2).[0m + 77.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235217 ms (missed cycles : 2).[0m + 78.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786067757.67324090 seconds + 78.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786067758.23287177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 78.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109329 ms (missed cycles : 4).[0m + 79.18sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). + 79.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250901 ms (missed cycles : 3).[0m + 81.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342581 ms (missed cycles : 3).[0m + 81.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 82.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287180 ms (missed cycles : 2).[0m + 83.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654460 ms (missed cycles : 2).[0m + 84.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627073 ms (missed cycles : 2).[0m + 85.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377358 ms (missed cycles : 4).[0m + 86.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011001 ms (missed cycles : 3).[0m + 87.20sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m + 87.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039241 ms (missed cycles : 2).[0m + 88.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675128 ms (missed cycles : 4).[0m + 89.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895120 ms (missed cycles : 3).[0m + 90.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353678 ms (missed cycles : 3).[0m + 91.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662115 ms (missed cycles : 4).[0m + 92.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890211 ms (missed cycles : 2).[0m + 94.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175784 ms (missed cycles : 2).[0m + 95.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048171 ms (missed cycles : 4).[0m + 96.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845993 ms (missed cycles : 2).[0m + 97.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888232 ms (missed cycles : 3).[0m + 98.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319839 ms (missed cycles : 2).[0m + 99.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145107 ms (missed cycles : 2).[0m +100.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259176 ms (missed cycles : 2).[0m +101.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447974 ms (missed cycles : 4).[0m +102.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951520 ms (missed cycles : 3).[0m +103.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809431 ms (missed cycles : 3).[0m +104.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275453 ms (missed cycles : 3).[0m +105.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775484 ms (missed cycles : 2).[0m +106.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391298 ms (missed cycles : 2).[0m +107.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784507 ms (missed cycles : 2).[0m +108.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016744 ms (missed cycles : 3).[0m +110.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569961 ms (missed cycles : 4).[0m +110.17sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +111.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549283 ms (missed cycles : 3).[0m +112.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067777 ms (missed cycles : 2).[0m +113.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419369 ms (missed cycles : 5).[0m +114.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528053 ms (missed cycles : 3).[0m +115.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354588 ms (missed cycles : 2).[0m +116.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144352 ms (missed cycles : 3).[0m +117.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321359 ms (missed cycles : 4).[0m +118.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067565 ms (missed cycles : 3).[0m +119.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165270 ms (missed cycles : 2).[0m +120.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938649 ms (missed cycles : 2).[0m +121.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734910 ms (missed cycles : 3).[0m +122.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077044 ms (missed cycles : 2).[0m +123.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165584 ms (missed cycles : 2).[0m +124.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787142 ms (missed cycles : 3).[0m +125.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225594 ms (missed cycles : 2).[0m +126.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740697 ms (missed cycles : 4).[0m +128.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789198 ms (missed cycles : 2).[0m +129.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650957 ms (missed cycles : 5).[0m +130.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834421 ms (missed cycles : 4).[0m +131.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805055 ms (missed cycles : 3).[0m +132.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194792 ms (missed cycles : 2).[0m +133.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441353 ms (missed cycles : 3).[0m +134.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906819 ms (missed cycles : 3).[0m +135.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319625 ms (missed cycles : 4).[0m +135.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786067815.22540569 seconds +136.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786067815.79470730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +136.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101407 ms (missed cycles : 2).[0m +136.70sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). +136.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +137.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671698 ms (missed cycles : 3).[0m +138.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253445 ms (missed cycles : 2).[0m +139.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215618 ms (missed cycles : 2).[0m +140.45sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786067819.91484904 seconds +140.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938691 ms (missed cycles : 3).[0m +142.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786067821.47138333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +142.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132059 ms (missed cycles : 3).[0m +142.47sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). +143.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122006 ms (missed cycles : 2).[0m +144.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919916 ms (missed cycles : 2).[0m +144.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +145.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073424 ms (missed cycles : 2).[0m +146.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683055 ms (missed cycles : 3).[0m +147.20sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m +147.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779632 ms (missed cycles : 3).[0m +148.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353337 ms (missed cycles : 3).[0m +149.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309032 ms (missed cycles : 2).[0m +150.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391578 ms (missed cycles : 3).[0m +151.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572604 ms (missed cycles : 2).[0m +152.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642504 ms (missed cycles : 2).[0m +154.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945977 ms (missed cycles : 3).[0m +155.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085778 ms (missed cycles : 2).[0m +156.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547352 ms (missed cycles : 2).[0m +157.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156035 ms (missed cycles : 2).[0m +158.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431190 ms (missed cycles : 2).[0m +159.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971607 ms (missed cycles : 3).[0m +160.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601701 ms (missed cycles : 3).[0m +161.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421853 ms (missed cycles : 3).[0m +162.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784324 ms (missed cycles : 2).[0m +164.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213181 ms (missed cycles : 4).[0m +165.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175794 ms (missed cycles : 3).[0m +166.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.202496 ms (missed cycles : 4).[0m +167.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280544 ms (missed cycles : 4).[0m +168.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886161 ms (missed cycles : 3).[0m +169.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983825 ms (missed cycles : 3).[0m +170.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912019 ms (missed cycles : 2).[0m +171.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243624 ms (missed cycles : 3).[0m +172.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894777 ms (missed cycles : 3).[0m +172.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786067852.43151474 seconds +173.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786067852.99966836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +173.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010085 ms (missed cycles : 2).[0m +173.91sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). +174.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670102 ms (missed cycles : 2).[0m +175.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870007 ms (missed cycles : 3).[0m +175.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +176.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573332 ms (missed cycles : 3).[0m +177.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387164 ms (missed cycles : 3).[0m +178.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469352 ms (missed cycles : 3).[0m +179.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634035 ms (missed cycles : 3).[0m +180.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102713 ms (missed cycles : 2).[0m +181.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693903 ms (missed cycles : 3).[0m +183.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458500 ms (missed cycles : 3).[0m +184.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578374 ms (missed cycles : 3).[0m +185.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453689 ms (missed cycles : 2).[0m +186.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980185 ms (missed cycles : 3).[0m +187.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251926 ms (missed cycles : 2).[0m +188.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386100 ms (missed cycles : 3).[0m +189.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826469 ms (missed cycles : 3).[0m +190.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938003 ms (missed cycles : 3).[0m +191.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934161 ms (missed cycles : 3).[0m +192.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918820 ms (missed cycles : 3).[0m +193.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834600 ms (missed cycles : 4).[0m +194.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252313 ms (missed cycles : 3).[0m +195.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427449 ms (missed cycles : 4).[0m +196.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680469 ms (missed cycles : 2).[0m +198.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658555 ms (missed cycles : 3).[0m +199.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872779 ms (missed cycles : 2).[0m +200.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754555 ms (missed cycles : 3).[0m +201.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358503 ms (missed cycles : 2).[0m +202.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932499 ms (missed cycles : 3).[0m +203.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706878 ms (missed cycles : 3).[0m +204.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495791 ms (missed cycles : 3).[0m +204.59sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +205.33sINFOobjective_server_nodePlanning for 43 path waypoints. +205.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835165 ms (missed cycles : 2).[0m +206.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130709 ms (missed cycles : 4).[0m +207.21sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m +207.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997877 ms (missed cycles : 3).[0m +208.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764199 ms (missed cycles : 3).[0m +209.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543291 ms (missed cycles : 3).[0m +210.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606667 ms (missed cycles : 3).[0m +211.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179169 ms (missed cycles : 3).[0m +213.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041705 ms (missed cycles : 2).[0m +214.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472240 ms (missed cycles : 3).[0m +215.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121039 ms (missed cycles : 2).[0m +216.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696738 ms (missed cycles : 3).[0m +217.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861544 ms (missed cycles : 2).[0m +218.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180167 ms (missed cycles : 2).[0m +219.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239715 ms (missed cycles : 2).[0m +220.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969738 ms (missed cycles : 2).[0m +221.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394110 ms (missed cycles : 3).[0m +222.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096193 ms (missed cycles : 4).[0m +223.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970402 ms (missed cycles : 3).[0m +224.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984746 ms (missed cycles : 2).[0m +225.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169327 ms (missed cycles : 2).[0m +226.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109411 ms (missed cycles : 2).[0m +228.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652436 ms (missed cycles : 2).[0m +229.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719126 ms (missed cycles : 3).[0m +230.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920571 ms (missed cycles : 3).[0m +231.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911534 ms (missed cycles : 3).[0m +232.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116134 ms (missed cycles : 2).[0m +233.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903343 ms (missed cycles : 3).[0m +234.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692970 ms (missed cycles : 2).[0m +235.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292791 ms (missed cycles : 2).[0m +236.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727815 ms (missed cycles : 3).[0m +237.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307688 ms (missed cycles : 3).[0m +238.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986511 ms (missed cycles : 3).[0m +239.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143977 ms (missed cycles : 2).[0m +240.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571028 ms (missed cycles : 3).[0m +241.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895555 ms (missed cycles : 3).[0m +242.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746064 ms (missed cycles : 3).[0m +243.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561626 ms (missed cycles : 3).[0m +244.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904982 ms (missed cycles : 3).[0m +245.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053494 ms (missed cycles : 3).[0m +246.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184960 ms (missed cycles : 4).[0m +248.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041237 ms (missed cycles : 4).[0m +249.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705297 ms (missed cycles : 3).[0m +250.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346288 ms (missed cycles : 3).[0m +251.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201837 ms (missed cycles : 2).[0m +252.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222326 ms (missed cycles : 4).[0m +253.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721340 ms (missed cycles : 3).[0m +254.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982230 ms (missed cycles : 3).[0m +255.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709617 ms (missed cycles : 3).[0m +256.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741540 ms (missed cycles : 2).[0m +257.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970261 ms (missed cycles : 3).[0m +258.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597545 ms (missed cycles : 3).[0m +259.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144897 ms (missed cycles : 4).[0m +260.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172774 ms (missed cycles : 4).[0m +262.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436607 ms (missed cycles : 3).[0m +263.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065254 ms (missed cycles : 4).[0m +264.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694344 ms (missed cycles : 3).[0m +265.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481161 ms (missed cycles : 3).[0m +266.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856761 ms (missed cycles : 3).[0m +267.21sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m +267.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904737 ms (missed cycles : 3).[0m +268.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064291 ms (missed cycles : 2).[0m +269.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408635 ms (missed cycles : 4).[0m +270.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936875 ms (missed cycles : 3).[0m +271.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245968 ms (missed cycles : 2).[0m +272.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032537 ms (missed cycles : 4).[0m +274.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104249 ms (missed cycles : 2).[0m +275.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581878 ms (missed cycles : 2).[0m +276.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702396 ms (missed cycles : 3).[0m +277.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538311 ms (missed cycles : 3).[0m +278.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959474 ms (missed cycles : 3).[0m +279.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628532 ms (missed cycles : 3).[0m +280.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655636 ms (missed cycles : 2).[0m +281.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026957 ms (missed cycles : 3).[0m +282.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117399 ms (missed cycles : 3).[0m +283.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027583 ms (missed cycles : 3).[0m +284.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928583 ms (missed cycles : 3).[0m +285.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093455 ms (missed cycles : 4).[0m +286.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881808 ms (missed cycles : 3).[0m +287.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597355 ms (missed cycles : 4).[0m +288.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708790 ms (missed cycles : 3).[0m +290.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192400 ms (missed cycles : 4).[0m +291.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511242 ms (missed cycles : 2).[0m +292.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872525 ms (missed cycles : 2).[0m +293.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835199 ms (missed cycles : 2).[0m +294.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930904 ms (missed cycles : 3).[0m +295.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018690 ms (missed cycles : 3).[0m +296.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943908 ms (missed cycles : 3).[0m +297.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436137 ms (missed cycles : 3).[0m +298.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511722 ms (missed cycles : 3).[0m +299.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849380 ms (missed cycles : 3).[0m +300.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683218 ms (missed cycles : 3).[0m +301.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935141 ms (missed cycles : 2).[0m +303.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495662 ms (missed cycles : 3).[0m +304.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333299 ms (missed cycles : 3).[0m +305.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089004 ms (missed cycles : 2).[0m +306.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502047 ms (missed cycles : 3).[0m +307.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m +308.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942100 ms (missed cycles : 3).[0m +309.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867758 ms (missed cycles : 3).[0m +310.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564642 ms (missed cycles : 2).[0m +311.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286077 ms (missed cycles : 3).[0m +312.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557369 ms (missed cycles : 3).[0m +313.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944291 ms (missed cycles : 2).[0m +314.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555658 ms (missed cycles : 3).[0m +315.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489933 ms (missed cycles : 2).[0m +316.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215731 ms (missed cycles : 3).[0m +317.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750095 ms (missed cycles : 3).[0m +318.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896603 ms (missed cycles : 3).[0m +320.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944937 ms (missed cycles : 2).[0m +321.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366550 ms (missed cycles : 3).[0m +322.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513173 ms (missed cycles : 3).[0m +323.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080090 ms (missed cycles : 3).[0m +324.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332447 ms (missed cycles : 3).[0m +325.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551408 ms (missed cycles : 3).[0m +326.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511043 ms (missed cycles : 3).[0m +327.22sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m +327.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908119 ms (missed cycles : 3).[0m +328.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909597 ms (missed cycles : 3).[0m +329.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574125 ms (missed cycles : 3).[0m +330.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704464 ms (missed cycles : 2).[0m +331.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453040 ms (missed cycles : 3).[0m +332.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142715 ms (missed cycles : 2).[0m +334.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487255 ms (missed cycles : 3).[0m +335.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912458 ms (missed cycles : 3).[0m +336.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792690 ms (missed cycles : 2).[0m +337.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788666 ms (missed cycles : 3).[0m +338.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171502 ms (missed cycles : 3).[0m +339.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266622 ms (missed cycles : 3).[0m +340.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068386 ms (missed cycles : 4).[0m +341.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974071 ms (missed cycles : 3).[0m +342.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749453 ms (missed cycles : 2).[0m +343.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748468 ms (missed cycles : 3).[0m +344.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607704 ms (missed cycles : 3).[0m +345.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526024 ms (missed cycles : 3).[0m +347.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079117 ms (missed cycles : 3).[0m +348.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784045 ms (missed cycles : 3).[0m +349.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679575 ms (missed cycles : 3).[0m +350.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178460 ms (missed cycles : 3).[0m +351.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429422 ms (missed cycles : 3).[0m +352.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270261 ms (missed cycles : 2).[0m +353.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444792 ms (missed cycles : 3).[0m +354.12sINFOobjective_server_nodeObjective preemption by a new Objective goal requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +354.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 +354.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +354.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled via preemption by a new Objective goal: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786068033.59320593 seconds +354.16sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786068033.63010812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +354.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456829 ms (missed cycles : 3).[0m +354.55sINFOobjective_server_nodeFound path in 0 iterations (8.93e-07 s). +355.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925276 ms (missed cycles : 3).[0m +356.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149933 ms (missed cycles : 2).[0m +357.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +357.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055785 ms (missed cycles : 3).[0m +358.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915972 ms (missed cycles : 3).[0m +359.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361634 ms (missed cycles : 2).[0m +361.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036217 ms (missed cycles : 2).[0m +362.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594491 ms (missed cycles : 2).[0m +363.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036453 ms (missed cycles : 2).[0m +364.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722425 ms (missed cycles : 2).[0m +364.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +364.66sERRORobjective_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: 1786068044.12520695 seconds +365.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786068044.67941499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +365.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838048 ms (missed cycles : 3).[0m +365.61sINFOobjective_server_nodeFound path in 0 iterations (1.447e-06 s). +366.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242740 ms (missed cycles : 2).[0m +367.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963654 ms (missed cycles : 2).[0m +367.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +368.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784374 ms (missed cycles : 3).[0m +369.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789392 ms (missed cycles : 2).[0m +370.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378890 ms (missed cycles : 3).[0m +371.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914684 ms (missed cycles : 3).[0m +372.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908298 ms (missed cycles : 3).[0m +373.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056826 ms (missed cycles : 3).[0m +374.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935077 ms (missed cycles : 3).[0m +375.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763698 ms (missed cycles : 3).[0m +376.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412969 ms (missed cycles : 3).[0m +377.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901503 ms (missed cycles : 3).[0m +378.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982508 ms (missed cycles : 5).[0m +379.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679985 ms (missed cycles : 3).[0m +381.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458170 ms (missed cycles : 5).[0m +382.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718057 ms (missed cycles : 5).[0m +383.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201036 ms (missed cycles : 2).[0m +384.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.529758 ms (missed cycles : 6).[0m +385.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294545 ms (missed cycles : 3).[0m +386.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314486 ms (missed cycles : 3).[0m +387.22sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m +387.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235904 ms (missed cycles : 3).[0m +388.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308097 ms (missed cycles : 3).[0m +389.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868783 ms (missed cycles : 3).[0m +390.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426832 ms (missed cycles : 3).[0m +391.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914388 ms (missed cycles : 3).[0m +392.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432612 ms (missed cycles : 4).[0m +393.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947441 ms (missed cycles : 4).[0m +394.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378317 ms (missed cycles : 2).[0m +395.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720744 ms (missed cycles : 2).[0m +395.97sINFOobjective_server_nodePlanning for 36 path waypoints. +397.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222220 ms (missed cycles : 4).[0m +398.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229452 ms (missed cycles : 4).[0m +399.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275371 ms (missed cycles : 2).[0m +400.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975791 ms (missed cycles : 2).[0m +401.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844332 ms (missed cycles : 3).[0m +402.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464165 ms (missed cycles : 3).[0m +403.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379422 ms (missed cycles : 3).[0m +404.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128463 ms (missed cycles : 2).[0m +405.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145928 ms (missed cycles : 4).[0m +407.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298069 ms (missed cycles : 2).[0m +408.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102060 ms (missed cycles : 4).[0m +409.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729223 ms (missed cycles : 3).[0m +410.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148759 ms (missed cycles : 3).[0m +411.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931261 ms (missed cycles : 3).[0m +412.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965338 ms (missed cycles : 2).[0m +413.36sINFOobjective_server_nodePlanning for 35 path waypoints. +413.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155024 ms (missed cycles : 2).[0m +414.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006547 ms (missed cycles : 3).[0m +415.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246273 ms (missed cycles : 4).[0m +416.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939357 ms (missed cycles : 3).[0m +417.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791461 ms (missed cycles : 3).[0m +418.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138211 ms (missed cycles : 3).[0m +419.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851686 ms (missed cycles : 2).[0m +420.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444373 ms (missed cycles : 3).[0m +421.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451884 ms (missed cycles : 3).[0m +422.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951502 ms (missed cycles : 3).[0m +423.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747303 ms (missed cycles : 2).[0m +424.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592189 ms (missed cycles : 3).[0m +425.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156005 ms (missed cycles : 2).[0m +426.02sINFOobjective_server_nodePlanning for 29 path waypoints. +426.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169781 ms (missed cycles : 3).[0m +428.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828531 ms (missed cycles : 3).[0m +429.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858889 ms (missed cycles : 3).[0m +430.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093169 ms (missed cycles : 3).[0m +431.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507162 ms (missed cycles : 3).[0m +432.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040531 ms (missed cycles : 2).[0m +433.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852286 ms (missed cycles : 2).[0m +434.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063002 ms (missed cycles : 3).[0m +435.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825579 ms (missed cycles : 2).[0m +436.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487164 ms (missed cycles : 3).[0m +437.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260364 ms (missed cycles : 4).[0m +438.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370568 ms (missed cycles : 4).[0m +439.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786068118.77954865 seconds +439.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942273 ms (missed cycles : 3).[0m +439.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786068119.33286238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +440.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112004 ms (missed cycles : 2).[0m +441.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981414 ms (missed cycles : 2).[0m +443.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196513 ms (missed cycles : 2).[0m +444.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522218 ms (missed cycles : 2).[0m +444.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068123.60298944 seconds +444.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068124.16481352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +445.06sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). +445.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862224 ms (missed cycles : 2).[0m +446.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881359 ms (missed cycles : 2).[0m +447.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902094 ms (missed cycles : 2).[0m +447.23sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m +448.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698970 ms (missed cycles : 2).[0m +449.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823428 ms (missed cycles : 2).[0m +450.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248066 ms (missed cycles : 3).[0m +451.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899470 ms (missed cycles : 3).[0m +452.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252221 ms (missed cycles : 2).[0m +453.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561851 ms (missed cycles : 3).[0m +454.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810332 ms (missed cycles : 2).[0m +455.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008909 ms (missed cycles : 2).[0m +457.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352200 ms (missed cycles : 3).[0m +458.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092542 ms (missed cycles : 2).[0m +459.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556507 ms (missed cycles : 3).[0m +460.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413843 ms (missed cycles : 3).[0m +461.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449551 ms (missed cycles : 3).[0m +462.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754877 ms (missed cycles : 3).[0m +463.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485647 ms (missed cycles : 3).[0m +464.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533361 ms (missed cycles : 3).[0m +465.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961128 ms (missed cycles : 3).[0m +466.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764726 ms (missed cycles : 3).[0m +467.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489165 ms (missed cycles : 2).[0m +468.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301512 ms (missed cycles : 3).[0m +470.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838079 ms (missed cycles : 3).[0m +471.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895716 ms (missed cycles : 3).[0m +472.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889769 ms (missed cycles : 3).[0m +473.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377976 ms (missed cycles : 3).[0m +474.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635468 ms (missed cycles : 3).[0m +475.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640931 ms (missed cycles : 3).[0m +476.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061739 ms (missed cycles : 2).[0m +477.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767084 ms (missed cycles : 3).[0m +478.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818829 ms (missed cycles : 3).[0m +479.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858217 ms (missed cycles : 3).[0m +480.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789822 ms (missed cycles : 3).[0m +481.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150541 ms (missed cycles : 4).[0m +482.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838431 ms (missed cycles : 3).[0m +483.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212036 ms (missed cycles : 2).[0m +485.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407107 ms (missed cycles : 3).[0m +486.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445006 ms (missed cycles : 3).[0m +487.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305345 ms (missed cycles : 4).[0m +488.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882106 ms (missed cycles : 2).[0m +489.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956849 ms (missed cycles : 4).[0m +490.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768663 ms (missed cycles : 2).[0m +491.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110693 ms (missed cycles : 2).[0m +492.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479891 ms (missed cycles : 3).[0m +493.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035843 ms (missed cycles : 2).[0m +494.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689511 ms (missed cycles : 3).[0m +495.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213737 ms (missed cycles : 4).[0m +496.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147561 ms (missed cycles : 3).[0m +497.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556833 ms (missed cycles : 3).[0m +498.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649507 ms (missed cycles : 3).[0m +499.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736500 ms (missed cycles : 3).[0m +500.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005444 ms (missed cycles : 2).[0m +501.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786068180.47494459 seconds +501.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786068181.04370522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +501.94sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). +502.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664076 ms (missed cycles : 2).[0m +503.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163528 ms (missed cycles : 2).[0m +504.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714958 ms (missed cycles : 2).[0m +505.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258425 ms (missed cycles : 3).[0m +506.27sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). +506.30sINFOobjective_server_nodePath shortcutter: [X__________________X] +506.34sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). +506.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447999 ms (missed cycles : 3).[0m +506.38sINFOobjective_server_nodePath shortcutter: [X_____________________X] +506.41sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). +506.48sINFOobjective_server_nodePath shortcutter: [X_________________________X] +506.53sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). +506.73sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +506.78sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). +506.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] +507.06sINFOobjective_server_nodeFound path in 29 iterations (0.0347444 s). +507.23sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m +507.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] +507.37sINFOobjective_server_nodeFound path in 0 iterations (1.024e-06 s). +507.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512952 ms (missed cycles : 3).[0m +507.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +507.86sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). +508.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +508.54sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +508.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865340 ms (missed cycles : 2).[0m +509.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059243 ms (missed cycles : 2).[0m +510.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318323 ms (missed cycles : 2).[0m +511.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141891 ms (missed cycles : 2).[0m +512.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123972 ms (missed cycles : 2).[0m +513.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522311 ms (missed cycles : 2).[0m +514.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786068194.01102448 seconds +514.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101484 ms (missed cycles : 2).[0m +515.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786068194.60325551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +515.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786068195.16339302 seconds +515.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611379 ms (missed cycles : 3).[0m +516.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786068195.71643949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +516.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786068196.22655630 seconds +516.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +517.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215380 ms (missed cycles : 2).[0m +518.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918659 ms (missed cycles : 3).[0m +519.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281353 ms (missed cycles : 2).[0m +520.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001828 ms (missed cycles : 2).[0m +521.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075517 ms (missed cycles : 3).[0m +522.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950266 ms (missed cycles : 2).[0m +522.95sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.95sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.96sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.96sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.97sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.97sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +522.99sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.99sERRORweb_video_auth_proxy-35process has died [pid 9580, 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']. +523.00sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.00sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.00sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.01sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +523.03sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.03sERRORweb_bridge_auth_proxy-34process has died [pid 9577, 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']. +523.03sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.04sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.04sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.04sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.05sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.05sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.05sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.06sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.06sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.07sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.07sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.07sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.08sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.08sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +523.09sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] +523.11sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +523.13sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +523.15sINFOvideo_server-33process has finished cleanly [pid 9574] +523.15sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +523.18sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +523.20sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +523.23sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +523.26sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +523.28sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +523.28sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +523.31sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +523.35sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +523.38sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +523.40sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9573] +523.41sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +523.45sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +523.48sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +523.51sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +523.52sINFOui_teleop_bridge-30process has finished cleanly [pid 9571] +523.52sINFOcomponent_container_mt-28process has finished cleanly [pid 9569] +523.54sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] +523.55sINFOexecute_objective_bridge-29process has finished cleanly [pid 9570] +523.56sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +523.57sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9566] +523.59sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +523.59sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9564] +523.61sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +523.62sINFOwaypoint_manager_node-23process has finished cleanly [pid 9542] +523.64sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +523.64sINFOparameter_manager_node-22process has finished cleanly [pid 9541] +523.64sINFOcomponent_container_mt-27process has finished cleanly [pid 9568] +523.66sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +523.66sINFOvideo_server2026/08/07 02:03:22 INF shutting down gracefully +523.66sINFOvideo_server2026/08/07 02:03:22 INF [WebRTC] closing +523.66sINFOvideo_server2026/08/07 02:03:22 INF [RTSP] closing +523.66sINFOvideo_server2026/08/07 02:03:22 INF waiting for running hooks +523.66sINFOobjective_server_node_main-26process has finished cleanly [pid 9567] +523.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +523.66sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +523.66sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +523.67sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +523.67sINFOcomponent_container_mtStopping planning scene monitor[0m +523.67sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +523.67sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +523.67sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +523.67sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +523.67sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +523.67sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +523.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705399 ms (missed cycles : 2).[0m +523.67sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +523.68sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +523.68sINFOros2_control_nodeShutdown request received....[0m +523.68sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +523.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +523.68sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +523.68sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +523.68sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +523.68sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +523.68sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +523.68sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +523.68sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +523.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +523.68sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +523.68sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +523.68sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +523.68sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +523.68sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +523.68sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +523.68sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +523.68sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +523.68sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +523.68sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +523.68sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +523.68sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +523.68sINFOros2_control_nodeShutting down the controller manager.[0m +523.68sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +523.68sINFOmove_groupDeleting MoveItCpp[0m +523.68sINFOmove_groupStopping world geometry monitor[0m +523.68sINFOmove_groupStopping planning scene monitor[0m +523.68sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +523.69sERRORodom_qos_relay.pyTraceback (most recent call last): +523.69sINFOodom_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> +523.69sINFOodom_qos_relay.pymain() +523.69sINFOodom_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 +523.69sINFOodom_qos_relay.pyrclpy.spin(node) +523.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +523.69sINFOodom_qos_relay.pyexecutor.spin_once() +523.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +523.69sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +523.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +523.69sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +523.69sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +523.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +523.69sINFOodom_qos_relay.pyreturn next(self._cb_iter) +523.69sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +523.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +523.69sINFOodom_qos_relay.pyraise ExternalShutdownException() +523.69sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +523.69sINFOobjective_server_node[2026-08-07 02:03:23.043] [moveit_pro_license] [info] +523.69sINFOobjective_server_node* Application has successfully terminated +523.69sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +523.69sINFOros2_control_nodeAsync messages lost 0[0m ×2 +523.69sINFOros2_control_nodepublish_async_failures_ 1[0m +523.69sINFOros2_control_nodepublish_async_failures_ 2[0m +523.70sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +523.71sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9450] +523.74sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9449] +523.74sINFOmove_group-21process has finished cleanly [pid 9540] +523.81sINFOstatic_transform_publisher-4process has finished cleanly [pid 9446] +523.83sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9448] +523.84sINFOstatic_transform_publisher-3process has finished cleanly [pid 9445] +523.85sERRORodom_qos_relay.py-5process has died [pid 9447, 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']. +523.91sERRORcomponent_container_isolated-2process has died [pid 9444, 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_cox0dr8u --params-file /tmp/launch_params_0nvri03q -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +524.87sERRORcomponent_container_isolated-1process has died [pid 9443, 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_cox0dr8u --params-file /tmp/launch_params_hz0vhd9i -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +525.13sINFOros2_control_node-9process has finished cleanly [pid 9451] +525.88sINFOweb_bridge-31process has finished cleanly [pid 9572] +525.88sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +534.10sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-07-02-03-30-292467-acf72966c637-10526 ×2 +547.40sINFOstatic_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' +547.40sINFOstatic_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' +547.46sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +547.47sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +547.48sINFOcontroller_managerupdate rate is 600 Hz +547.48sINFOcontroller_managerOverruns handling is : enabled +547.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +547.48sWARNcontroller_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. +547.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514408 ms (missed cycles : 5). +547.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +547.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +547.65sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +547.65sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +547.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +547.67sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +547.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +547.71sINFOros2_control_node-9process started with pid [10584] ×2 +547.71sINFOcontroller_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. +547.73sINFOmove_group-21process started with pid [10691] ×2 +547.73sINFOparameter_manager_node-22process started with pid [10692] ×2 +547.73sINFOwaypoint_manager_node-23process started with pid [10693] ×2 +547.73sINFOmove_joint_resampler_node-24process started with pid [10694] ×2 +547.73sINFOmove_end_effector_resampler_node-25process started with pid [10695] ×2 +547.73sINFOobjective_server_node_main-26process started with pid [10696] ×2 +547.73sINFOcomponent_container_mt-27process started with pid [10697] ×2 +547.73sINFOcomponent_container_mt-28process started with pid [10698] ×2 +547.73sINFOexecute_objective_bridge-29process started with pid [10699] ×2 +547.73sINFOui_teleop_bridge-30process started with pid [10700] ×2 +547.73sINFOweb_bridge-31process started with pid [10701] ×2 +547.74sINFOtf2_web_republisher_node-32process started with pid [10702] ×2 +547.74sINFOvideo_server-33process started with pid [10703] ×2 +547.74sINFOweb_bridge_auth_proxy-34process started with pid [10706] ×2 +547.74sINFOweb_video_auth_proxy-35process started with pid [10709] ×2 +547.75sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +547.75sINFOcomponent_container_isolated-1process started with pid [10576] ×2 +547.75sINFOcomponent_container_isolated-2process started with pid [10577] ×2 +547.75sINFOstatic_transform_publisher-3process started with pid [10578] ×2 +547.75sINFOstatic_transform_publisher-4process started with pid [10579] ×2 +547.75sINFOodom_qos_relay.py-5process started with pid [10580] ×2 +547.75sINFOforward_stereo_publisher.py-6process started with pid [10581] ×2 +547.75sINFOscan_to_scan_filter_chain-7process started with pid [10582] ×2 +547.75sINFOscan_to_scan_filter_chain-8process started with pid [10583] ×2 +547.75sINFOros2-10process started with pid [10680] ×2 +547.75sINFOros2-11process started with pid [10681] ×2 +547.75sINFOros2-12process started with pid [10682] ×2 +547.75sINFOros2-13process started with pid [10683] ×2 +547.75sINFOros2-14process started with pid [10684] ×2 +547.75sINFOros2-15process started with pid [10685] ×2 +547.75sINFOros2-16process started with pid [10686] ×2 +547.75sINFOros2-17process started with pid [10687] ×2 +547.75sINFOros2-18process started with pid [10688] ×2 +547.75sINFOros2-19process started with pid [10689] ×2 +547.76sINFOros2-20process started with pid [10690] ×2 +547.78sINFOcontroller_serverCreating controller server +547.81sINFOlocal_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. +547.82sINFOlocal_costmap.local_costmapCreating Costmap +547.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +547.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +547.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +547.83sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +547.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +547.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +547.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +547.87sINFOmap_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. +547.87sINFOmap_serverCreating +547.89sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +547.89sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +547.90sINFOsmoother_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. +547.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +547.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +547.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +547.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514408 ms (missed cycles : 5).[0m ×2 +547.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +547.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +547.94sINFOsmoother_serverCreating smoother server +547.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +547.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +547.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +547.99sINFOplanner_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. +548.01sINFOrobot_state_publisherRobot initialized +548.01sINFOcontroller_managerReceived robot description from topic. +548.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +548.02sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +548.02sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +548.02sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +548.03sINFOplanner_serverCreating +548.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +548.05sINFOlifecycle_manager_localizationCreating +548.06sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +548.07sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +548.07sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +548.07sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +548.07sINFOmap_serverConfiguring +548.08sINFOglobal_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. +548.09sINFOglobal_costmap.global_costmapCreating Costmap +548.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +548.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +548.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +548.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +548.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +548.14sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +548.14sINFOamclConfiguring +548.15sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +548.15sINFOmap_serverActivating +548.15sINFOmap_serverCreating bond (map_server) to lifecycle manager. +548.16sINFObehavior_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. +548.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +548.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +548.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +548.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +548.26sINFOlifecycle_manager_localizationServer map_server connected with bond. +548.26sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +548.26sINFOamclActivating +548.26sINFOamclSubscribed to initial_pose_topic: /initialpose +548.26sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +548.26sINFOamclSubscribed to map_topic: /map +548.26sINFOamclSubscribed to scan_topic: /scan_merged +548.26sINFOamclCreated reinitialize_global_localization service +548.26sINFOamclCreated request_nomotion_update service +548.27sINFOamclA new map was received +548.27sINFOamclInitializing particle filter instance +548.30sINFObt_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. +548.34sINFObt_navigatorCreating +548.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +548.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +548.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +548.40sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.371818 seconds +548.40sINFOmove_groupLoaded robot model in 0.371818 seconds[0m ×2 +548.41sWARNlaser_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. +548.41sWARNlaser_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. +548.41sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +548.41sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +548.42sINFOwaypoint_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. +548.43sINFOwaypoint_followerCreating +548.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +548.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +548.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +548.49sINFOvelocity_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. +548.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +548.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +548.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +548.53sINFOlifecycle_manager_navigationCreating +548.55sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +548.58sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +548.58sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +548.58sINFOcontroller_serverConfiguring controller interface +548.58sINFOcontroller_servergetting progress checker plugins.. +548.58sINFOcontroller_servergetting goal checker plugins.. +548.58sINFOcontroller_serverController frequency set to 20.0000Hz +548.58sINFOlocal_costmap.local_costmapConfiguring +548.59sINFOvideo_server2026/08/07 02:03:48 INF MediaMTX v1.19.3, linux, amd64 ×2 +548.59sINFOvideo_server2026/08/07 02:03:48 INF configuration loaded from /tmp/moveit-webrtc-fnli90y5/mediamtx.yml ×2 +548.59sINFOvideo_server2026/08/07 02:03:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +548.59sINFOvideo_server2026/08/07 02:03:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +548.59sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +548.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553806 ms (missed cycles : 3). +548.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553806 ms (missed cycles : 3).[0m ×2 +548.62sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +548.66sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +548.66sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +548.66sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +548.68sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +548.68sINFOcontroller_serverController Server has progress_checker progress checkers available. +548.69sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +548.69sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +548.70sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +548.71sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +548.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +548.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +548.73sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +548.73sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +548.74sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +548.74sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +548.74sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +548.75sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +548.75sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +548.75sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +548.76sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +548.77sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +548.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +548.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +548.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +548.78sINFOcontroller_serverOptimizer reset ×2 +548.80sINFOcontroller_serverController Server has FollowPath controllers available. +548.84sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +548.84sINFOsmoother_serverConfiguring smoother server +548.85sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +548.86sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +548.87sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +548.87sINFOplanner_serverConfiguring +548.87sINFOglobal_costmap.global_costmapConfiguring +548.89sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +548.90sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +548.90sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +548.90sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +548.91sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +548.92sINFOamclParticle filter initialization completed +548.92sINFOamclInitializing particles from estimated pose and covariance +548.92sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +548.92sINFOamclThe bond connection to the lifecycle manager is now fully formed +548.93sINFOlifecycle_manager_localizationServer amcl connected with bond. +548.93sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +548.93sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +548.95sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +548.95sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +548.95sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +548.97sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +548.97sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +548.97sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +548.98sINFOplanner_serverPlanner Server has GridBased planners available. +549.00sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +549.00sINFObehavior_serverConfiguring +549.01sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +549.03sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +549.03sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +549.04sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +549.04sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +549.05sINFObehavior_serverConfiguring spin +549.07sINFObehavior_serverConfiguring backup +549.08sINFObehavior_serverConfiguring drive_on_heading +549.10sINFObehavior_serverConfiguring assisted_teleop +549.12sINFObehavior_serverConfiguring wait +549.13sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +549.13sINFObt_navigatorConfiguring +549.13sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +549.14sWARNbt_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 +549.20sINFOwaypoint_manager_nodeLoaded robot model in 0.355216 seconds[0m ×2 +549.31sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +549.38sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +549.38sINFOwaypoint_followerConfiguring +549.42sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +549.42sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +549.42sINFOvelocity_smootherConfiguring velocity smoother +549.43sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +549.43sINFOcontroller_serverActivating +549.43sINFOlocal_costmap.local_costmapActivating +549.43sINFOlocal_costmap.local_costmapChecking transform +549.43sINFOlocal_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. ×11 +549.50sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +549.51sWARNmove_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. +549.51sWARNmove_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. +549.51sWARNmove_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. +549.51sWARNmove_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. +549.51sWARNmove_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. +549.52sWARNmove_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. +549.52sWARNmove_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. +549.53sWARNmove_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. +549.53sWARNmove_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. +549.53sWARNmove_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. +549.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381625 ms (missed cycles : 3). +549.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381625 ms (missed cycles : 3).[0m ×2 +550.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +550.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +550.00sINFOmove_group[2026-08-07 02:03:49.459] [moveit_pro_license] [info] ×2 +550.10sWARNwaypoint_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. +550.10sWARNwaypoint_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. +550.10sWARNwaypoint_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. +550.10sWARNwaypoint_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. +550.11sWARNwaypoint_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. +550.11sWARNwaypoint_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. +550.11sWARNwaypoint_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. +550.11sWARNwaypoint_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. +550.11sWARNwaypoint_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. +550.11sWARNwaypoint_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. +550.12sWARNwaypoint_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. +550.12sWARNwaypoint_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. +550.12sWARNwaypoint_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. +550.12sWARNwaypoint_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. +550.13sWARNwaypoint_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. +550.13sWARNwaypoint_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. +550.13sWARNwaypoint_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. +550.14sWARNwaypoint_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. +550.14sWARNwaypoint_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. +550.14sWARNwaypoint_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. +550.14sWARNwaypoint_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. +550.14sWARNwaypoint_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. +550.15sWARNwaypoint_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. +550.15sWARNwaypoint_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. +550.15sWARNwaypoint_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. +550.15sWARNwaypoint_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. +550.15sWARNwaypoint_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. +550.15sWARNwaypoint_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. +550.21sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +550.54sINFOwaypoint_manager_node[2026-08-07 02:03:50.005] [moveit_pro_license] [info] ×2 +550.56sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +550.56sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +550.56sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +550.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +550.56sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +550.57sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +550.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +550.58sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +550.58sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +550.58sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +550.58sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +550.89sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +550.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. +550.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +550.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +550.92sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +550.92sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +550.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +550.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +550.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +550.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +551.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +551.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +551.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +551.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +551.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +551.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +551.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +551.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +551.13sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +551.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +551.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +551.16sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +551.16sINFOstreaming_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) +551.16sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +551.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902431 ms (missed cycles : 2). +551.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902431 ms (missed cycles : 2).[0m ×2 +551.37sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +551.37sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +551.38sINFOstreaming_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) +551.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +551.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +551.39sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +551.42sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +551.43sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +551.43sINFOcontroller_managerLoading controller 'velocity_force_controller' +551.45sINFOros2-16process has finished cleanly [pid 10686] ×2 +551.50sINFOobjective_server_node[2026-08-07 02:03:50.965] [moveit_pro_license] [info] ×2 +551.56sINFOobjective_server_nodeLoaded robot model in 0.0193477 seconds[0m ×2 +551.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +551.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +551.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +551.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +551.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +551.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +551.96sINFOcomponent_container_mtLoaded robot model in 0.375481 seconds[0m ×2 +551.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +551.98sWARNobjective_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. +551.98sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +551.99sWARNobjective_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. +552.10sINFOros2_control_node[2026-08-07 02:03:51.570] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +552.11sINFOros2_control_node[2026-08-07 02:03:51.573] [info] Controller state will be published at 10 Hz. ×2 +552.11sINFOros2_control_node[2026-08-07 02:03:51.574] [info] VelocityForceController 'on_configure' succeeded. ×2 +552.13sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786068230.482 for reason 'discarding message because the queue is full' +552.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251910 ms (missed cycles : 2). +552.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251910 ms (missed cycles : 2).[0m ×2 +552.36sWARNplanning_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. +552.36sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.37sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.38sWARNplanning_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. +552.39sWARNplanning_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. +552.39sWARNplanning_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. +552.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +552.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +552.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +552.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +552.50sINFOros2-17process has finished cleanly [pid 10687] ×2 +552.50sINFOmove_groupMoveGroup debug mode is ON +552.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +552.53sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +552.53sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +552.60sINFOcomponent_container_mt[2026-08-07 02:03:52.066] [moveit_pro_license] [info] ×2 +552.65sINFOmove_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
********************************************************
+552.90sINFOros2_control_node[2026-08-07 02:03:52.365] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +552.90sINFOros2_control_node[2026-08-07 02:03:52.366] [info] Controller state will be published at 10 Hz. ×2 +552.90sINFOros2_control_node[2026-08-07 02:03:52.367] [info] VelocityForceController 'on_configure' succeeded. ×2 +553.25sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +553.25sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +553.26sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +553.26sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +553.26sINFOros2-18process has finished cleanly [pid 10688] ×2 +553.31sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +553.32sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +553.32sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +553.32sINFOcontroller_managerSuccessfully switched controllers! ×8 +553.32sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +553.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540434 ms (missed cycles : 3). +553.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540434 ms (missed cycles : 3).[0m ×2 +553.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +553.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' +553.67sINFOros2-11process has finished cleanly [pid 10681] ×2 +553.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +553.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +553.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +553.83sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +554.27sINFOros2_control_node[2026-08-07 02:03:53.739] [info] Controller state will be published at 20 Hz. ×2 +554.27sINFOros2_control_node[2026-08-07 02:03:53.741] [info] JointVelocityController 'on_configure' succeeded. ×2 +554.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885805 ms (missed cycles : 3). +554.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885805 ms (missed cycles : 3).[0m ×2 +554.61sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +554.61sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +554.62sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +554.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +554.63sINFOros2-19process has finished cleanly [pid 10689] ×2 +554.63sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786068232.982 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +554.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +554.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +554.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +554.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +554.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +554.84sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 3.415ms +554.93sINFOlocal_costmap.local_costmapstart +555.03sWARNcontroller_serverParameter controller_server.verbose not found +555.04sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +555.04sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +555.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +555.05sINFOcontroller_managerLoading controller 'vacuum_gripper' +555.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +555.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +555.07sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +555.07sINFOros2-12process has finished cleanly [pid 10682] ×2 +555.11sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +555.11sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +555.11sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +555.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +555.12sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +555.14sINFOlifecycle_manager_navigationServer controller_server connected with bond. +555.14sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +555.14sINFOsmoother_serverActivating +555.14sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +555.25sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +555.25sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +555.25sINFOplanner_serverActivating +555.25sINFOglobal_costmap.global_costmapActivating +555.25sINFOglobal_costmap.global_costmapChecking transform +555.25sINFOglobal_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 1786068234.692645 but the earliest data is at time 1786068235.184327, when looking up transform from frame [ridgeback_base_link] to frame [map] +555.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2). +555.47sINFOros2-14process has finished cleanly [pid 10684] ×2 +555.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333264 ms (missed cycles : 2).[0m ×2 +555.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +555.48sINFOcontroller_managerLoading controller 'platform_velocity_controller' +555.48sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +555.49sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +555.54sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +555.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +555.56sINFOplatform_velocity_controllerconfigure successful +555.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +555.57sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +555.75sINFOglobal_costmap.global_costmapstart +555.90sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +555.90sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +555.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +555.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +555.93sINFOros2-13process has finished cleanly [pid 10683] ×2 +555.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +555.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +555.97sINFOforce_torque_sensor_broadcasterconfigure successful +555.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +555.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +556.32sINFOros2-10process has finished cleanly [pid 10680] ×2 +556.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +556.34sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +556.34sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +556.34sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +556.42sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +556.42sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +556.42sINFOplatform_velocity_controller_nav2configure successful +556.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733881 ms (missed cycles : 2). +556.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733881 ms (missed cycles : 2).[0m ×2 +556.75sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +556.75sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +556.75sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 +556.75sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ebd0rqhf --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_9v391zfd --params-file /tmp/launch_params_7k_1ky24 [0m ×2 +556.77sINFOros2-15process has finished cleanly [pid 10685] ×2 +556.80sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +556.80sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +556.81sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +556.82sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +556.91sINFOlifecycle_manager_navigationServer planner_server connected with bond. +556.91sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +556.91sINFObehavior_serverActivating +556.91sINFObehavior_serverActivating spin +556.91sINFObehavior_serverActivating backup +556.91sINFObehavior_serverActivating drive_on_heading +556.91sINFObehavior_serverActivating assisted_teleop +556.91sINFObehavior_serverActivating wait +556.91sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +557.01sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +557.01sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +557.01sINFObt_navigatorActivating +557.07sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +557.18sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +557.18sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +557.18sINFOwaypoint_followerActivating +557.18sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +557.28sINFOros2_control_node[2026-08-07 02:03:56.745] [info] Controller state will be published at 20 Hz. ×2 +557.28sINFOros2_control_node[2026-08-07 02:03:56.745] [info] JointVelocityController 'on_configure' succeeded. ×2 +557.28sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +557.28sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +557.28sINFOvelocity_smootherActivating +557.28sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +557.39sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +557.39sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +557.39sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +557.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285490 ms (missed cycles : 4). +557.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285490 ms (missed cycles : 4).[0m ×2 +557.61sINFOros2-20process has finished cleanly [pid 10690] ×2 +558.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985055 ms (missed cycles : 3). +558.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985055 ms (missed cycles : 3).[0m ×2 +559.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). +559.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 +560.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). +560.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 +561.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). +561.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 +562.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +562.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +562.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +562.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 +562.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). +562.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 +563.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +563.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 +563.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +563.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 +564.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). +564.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 +564.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +564.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +564.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +564.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +564.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +564.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +564.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +564.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 +565.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +565.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +565.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +565.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.4s | 3 errors · 238 warnings · 212 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 3.873ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201619 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201619 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 4.088ms + 1.00sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.161ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694636 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694636 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.423ms + 2.00sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.894ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400956 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400956 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.678ms + 3.00sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.940ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004154 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004154 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.562ms + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOjoint_trajectory_controllerGot request to cancel goal + 3.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.84sERRORobjective_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: 1786068451.54547954 seconds ×3 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-0.70, 3.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.89sWARNlocal_costmap.local_costmapSensor origin at (-1.60, 3.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.749ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566998 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566998 ms (missed cycles : 3).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.003ms + 4.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786068452.10566807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.917ms + 4.84sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.674ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.413ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818610 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818610 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.910ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.426ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.073ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776813 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776813 ms (missed cycles : 2).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.251ms + 6.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.70sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.70sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.70sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.122ms + 7.30sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 5.624ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602604 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602604 ms (missed cycles : 3).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 4.014ms + 7.90sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.700ms + 8.20sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.624ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350526 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350526 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315280 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315280 ms (missed cycles : 2).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 10.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334637 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334637 ms (missed cycles : 3).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009048 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009048 ms (missed cycles : 4).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457738 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457738 ms (missed cycles : 2).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592012 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592012 ms (missed cycles : 4).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639370 ms (missed cycles : 3). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639370 ms (missed cycles : 3).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533297 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533297 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788521 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788521 ms (missed cycles : 3).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426033 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426033 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479474 ms (missed cycles : 4). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479474 ms (missed cycles : 4).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335408 ms (missed cycles : 3). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335408 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542082 ms (missed cycles : 3). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542082 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596088 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596088 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808999 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808999 ms (missed cycles : 3).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936748 ms (missed cycles : 5). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936748 ms (missed cycles : 5).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms ×3 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639535 ms (missed cycles : 3). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639535 ms (missed cycles : 3).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751083 ms (missed cycles : 4). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751083 ms (missed cycles : 4).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140498 ms (missed cycles : 4). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140498 ms (missed cycles : 4).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542394 ms (missed cycles : 6). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542394 ms (missed cycles : 6).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746913 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746913 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562564 ms (missed cycles : 5). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562564 ms (missed cycles : 5).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226215 ms (missed cycles : 4). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226215 ms (missed cycles : 4).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms ×2 + 32.71sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231159 ms (missed cycles : 4). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231159 ms (missed cycles : 4).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.992471 ms (missed cycles : 5). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.992471 ms (missed cycles : 5).[0m ×2 + 33.99sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.99sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.34sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776085 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776085 ms (missed cycles : 3).[0m ×2 + 35.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.21sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231432 ms (missed cycles : 4). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231432 ms (missed cycles : 4).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652338 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652338 ms (missed cycles : 3).[0m ×2 + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407896 ms (missed cycles : 3). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407896 ms (missed cycles : 3).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598324 ms (missed cycles : 3). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598324 ms (missed cycles : 3).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969957 ms (missed cycles : 3). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969957 ms (missed cycles : 3).[0m ×2 + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.799ms + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944333 ms (missed cycles : 2). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944333 ms (missed cycles : 2).[0m ×2 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134280 ms (missed cycles : 2). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134280 ms (missed cycles : 2).[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434635 ms (missed cycles : 2). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434635 ms (missed cycles : 2).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461240 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461240 ms (missed cycles : 2).[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305138 ms (missed cycles : 4). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305138 ms (missed cycles : 4).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854150 ms (missed cycles : 3). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854150 ms (missed cycles : 3).[0m ×2 + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477154 ms (missed cycles : 3). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477154 ms (missed cycles : 3).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143394 ms (missed cycles : 3). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143394 ms (missed cycles : 3).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579127 ms (missed cycles : 2). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579127 ms (missed cycles : 2).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.524ms + 50.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801011 ms (missed cycles : 5). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801011 ms (missed cycles : 5).[0m ×2 + 51.77sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597539 ms (missed cycles : 2). + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597539 ms (missed cycles : 2).[0m ×2 + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035012 ms (missed cycles : 3). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035012 ms (missed cycles : 3).[0m ×2 + 54.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610401 ms (missed cycles : 2). + 54.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610401 ms (missed cycles : 2).[0m ×2 + 55.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614047 ms (missed cycles : 3). + 55.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614047 ms (missed cycles : 3).[0m ×2 + 56.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047438 ms (missed cycles : 3). + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047438 ms (missed cycles : 3).[0m ×2 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149244 ms (missed cycles : 4). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149244 ms (missed cycles : 4).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464964 ms (missed cycles : 3). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464964 ms (missed cycles : 3).[0m ×2 + 59.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 59.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369624 ms (missed cycles : 3). + 59.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369624 ms (missed cycles : 3).[0m ×2 + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 60.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584338 ms (missed cycles : 2). + 60.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584338 ms (missed cycles : 2).[0m ×2 + 61.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496165 ms (missed cycles : 3). + 61.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496165 ms (missed cycles : 3).[0m ×2 + 62.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 62.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056352 ms (missed cycles : 3). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056352 ms (missed cycles : 3).[0m ×2 + 63.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 63.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168951 ms (missed cycles : 4). + 63.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168951 ms (missed cycles : 4).[0m ×2 + 64.47sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 64.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364889 ms (missed cycles : 3). + 64.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364889 ms (missed cycles : 3).[0m ×2 + 65.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309145 ms (missed cycles : 3). + 65.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309145 ms (missed cycles : 3).[0m ×2 + 66.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513334 ms (missed cycles : 3). + 66.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513334 ms (missed cycles : 3).[0m ×2 + 67.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446791 ms (missed cycles : 3). + 67.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446791 ms (missed cycles : 3).[0m ×2 + 68.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 69.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 69.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598433 ms (missed cycles : 3). + 69.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598433 ms (missed cycles : 3).[0m ×2 + 70.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208580 ms (missed cycles : 4). + 70.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208580 ms (missed cycles : 4).[0m ×2 + 71.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817752 ms (missed cycles : 2). + 71.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817752 ms (missed cycles : 2).[0m ×2 + 71.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 72.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424881 ms (missed cycles : 3). + 72.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424881 ms (missed cycles : 3).[0m ×2 + 72.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 72.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 73.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618850 ms (missed cycles : 3). + 73.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618850 ms (missed cycles : 3).[0m ×2 + 73.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 74.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399496 ms (missed cycles : 4). + 74.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399496 ms (missed cycles : 4).[0m ×2 + 74.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 75.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 75.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697330 ms (missed cycles : 2). + 75.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697330 ms (missed cycles : 2).[0m ×2 + 76.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786068523.90594172 seconds ×3 + 76.29sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 13.69) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.29sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.28) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.558ms + 76.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168805 ms (missed cycles : 2). + 76.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168805 ms (missed cycles : 2).[0m ×2 + 76.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 76.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786068524.46615195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 77.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 77.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 77.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 78.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 78.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 78.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 79.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 188 warnings · 166 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786068287.64421701 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786068288.19723868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (3.2277e-05 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.83sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.83sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.83sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.83sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3).[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548924 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548924 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786068291.52736235 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786068292.08614683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722271 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722271 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433977 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433977 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646548 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646548 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554561 ms (missed cycles : 3). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554561 ms (missed cycles : 3).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 2.308ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097068 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097068 ms (missed cycles : 2).[0m ×2 + 9.71sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.305ms + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757146 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757146 ms (missed cycles : 3).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 11.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109229 ms (missed cycles : 3). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109229 ms (missed cycles : 3).[0m ×2 + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356863 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356863 ms (missed cycles : 3).[0m ×2 + 12.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms ×2 + 12.81sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251065 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251065 ms (missed cycles : 3).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118877 ms (missed cycles : 3). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118877 ms (missed cycles : 3).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754042 ms (missed cycles : 3). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754042 ms (missed cycles : 3).[0m ×2 + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435032 ms (missed cycles : 4). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435032 ms (missed cycles : 4).[0m ×2 + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476548 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476548 ms (missed cycles : 3).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms ×2 + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442910 ms (missed cycles : 6). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442910 ms (missed cycles : 6).[0m ×2 + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607631 ms (missed cycles : 3). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607631 ms (missed cycles : 3).[0m ×2 + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844253 ms (missed cycles : 3). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844253 ms (missed cycles : 3).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558468 ms (missed cycles : 3). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558468 ms (missed cycles : 3).[0m ×2 + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809483 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809483 ms (missed cycles : 2).[0m ×2 + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583965 ms (missed cycles : 2). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583965 ms (missed cycles : 2).[0m ×2 + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668769 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668769 ms (missed cycles : 3).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418216 ms (missed cycles : 3). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418216 ms (missed cycles : 3).[0m ×2 + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594579 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594579 ms (missed cycles : 3).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 27.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677766 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677766 ms (missed cycles : 2).[0m ×2 + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.800ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234275 ms (missed cycles : 3). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234275 ms (missed cycles : 3).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766434 ms (missed cycles : 4). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766434 ms (missed cycles : 4).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700352 ms (missed cycles : 2). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700352 ms (missed cycles : 2).[0m ×2 + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256574 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256574 ms (missed cycles : 2).[0m ×2 + 33.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674192 ms (missed cycles : 2). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674192 ms (missed cycles : 2).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128692 ms (missed cycles : 2). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128692 ms (missed cycles : 2).[0m ×2 + 34.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371575 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371575 ms (missed cycles : 3).[0m ×2 + 35.89sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.89sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873477 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873477 ms (missed cycles : 2).[0m ×2 + 37.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804420 ms (missed cycles : 2). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804420 ms (missed cycles : 2).[0m ×2 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028307 ms (missed cycles : 4). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028307 ms (missed cycles : 4).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562137 ms (missed cycles : 4). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562137 ms (missed cycles : 4).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311928 ms (missed cycles : 4). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311928 ms (missed cycles : 4).[0m ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303915 ms (missed cycles : 2). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303915 ms (missed cycles : 2).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327951 ms (missed cycles : 3). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327951 ms (missed cycles : 3).[0m ×2 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721132 ms (missed cycles : 3). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721132 ms (missed cycles : 3).[0m ×2 + 44.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277312 ms (missed cycles : 3). + 44.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277312 ms (missed cycles : 3).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014741 ms (missed cycles : 2). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014741 ms (missed cycles : 2).[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129526 ms (missed cycles : 4). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129526 ms (missed cycles : 4).[0m ×2 + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165161 ms (missed cycles : 2). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165161 ms (missed cycles : 2).[0m ×2 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724906 ms (missed cycles : 2). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724906 ms (missed cycles : 2).[0m ×2 + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154777 ms (missed cycles : 4). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154777 ms (missed cycles : 4).[0m ×2 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357354 ms (missed cycles : 4). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357354 ms (missed cycles : 4).[0m ×2 + 52.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456285 ms (missed cycles : 3). + 52.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456285 ms (missed cycles : 3).[0m ×2 + 52.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 53.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062661 ms (missed cycles : 4). + 53.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062661 ms (missed cycles : 4).[0m ×2 + 54.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205141 ms (missed cycles : 4). + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205141 ms (missed cycles : 4).[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824810 ms (missed cycles : 4). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824810 ms (missed cycles : 4).[0m ×2 + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463532 ms (missed cycles : 3). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463532 ms (missed cycles : 3).[0m ×2 + 56.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 60.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 61.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 61.61sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.61sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 61.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 62.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 62.09sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 62.48sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 62.51sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 62.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 63.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 63.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 63.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 64.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 185 warnings · 145 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603544 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603544 ms (missed cycles : 2).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896501 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896501 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.928ms + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.499ms + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922040 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922040 ms (missed cycles : 2).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.987ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.187ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776961 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776961 ms (missed cycles : 2).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.224ms + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.058ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725156 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725156 ms (missed cycles : 3).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.826ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.589ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382872 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382872 ms (missed cycles : 4).[0m ×2 + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.751ms + 13.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.806ms + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320649 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320649 ms (missed cycles : 2).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 7.127ms + 14.61sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 6.325ms + 15.11sINFOamclParticle filter update iteration stats: 3845 particles 723 points - 5.334ms + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406173 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406173 ms (missed cycles : 3).[0m ×2 + 15.42sINFOros2_control_nodeMuJoCo sim: 1.68% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 4.940ms + 16.10sINFOamclParticle filter update iteration stats: 3658 particles 723 points - 4.989ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293989 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293989 ms (missed cycles : 4).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 6.777ms + 17.11sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.283ms + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449082 ms (missed cycles : 4). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449082 ms (missed cycles : 4).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 4621 particles 723 points - 6.822ms + 18.11sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 7.058ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308826 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308826 ms (missed cycles : 2).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.808ms + 19.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.356ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234662 ms (missed cycles : 3). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234662 ms (missed cycles : 3).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.656ms + 20.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 20.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.828ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945254 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945254 ms (missed cycles : 3).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 4807 particles 723 points - 8.726ms + 21.61sINFOamclParticle filter update iteration stats: 4363 particles 723 points - 8.571ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747750 ms (missed cycles : 4). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747750 ms (missed cycles : 4).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 4000 particles 723 points - 6.025ms + 22.61sINFOamclParticle filter update iteration stats: 3523 particles 723 points - 5.621ms + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755090 ms (missed cycles : 3). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755090 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 2961 particles 723 points - 4.923ms + 23.60sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 3.775ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681316 ms (missed cycles : 4). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681316 ms (missed cycles : 4).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 2575 particles 723 points - 3.475ms + 24.60sINFOamclParticle filter update iteration stats: 2030 particles 723 points - 3.160ms + 25.10sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 2.560ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496684 ms (missed cycles : 4). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496684 ms (missed cycles : 4).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.310ms + 26.10sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.806ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121248 ms (missed cycles : 2). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121248 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784198 ms (missed cycles : 3). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784198 ms (missed cycles : 3).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574015 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574015 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421969 ms (missed cycles : 4). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421969 ms (missed cycles : 4).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666924 ms (missed cycles : 2). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666924 ms (missed cycles : 2).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260693 ms (missed cycles : 2). + 31.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260693 ms (missed cycles : 2).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 32.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601976 ms (missed cycles : 3). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601976 ms (missed cycles : 3).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631584 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631584 ms (missed cycles : 2).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019676 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019676 ms (missed cycles : 2).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 35.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.36sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023100 ms (missed cycles : 2). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023100 ms (missed cycles : 2).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827288 ms (missed cycles : 5). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827288 ms (missed cycles : 5).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415214 ms (missed cycles : 3). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415214 ms (missed cycles : 3).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546098 ms (missed cycles : 2). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546098 ms (missed cycles : 2).[0m ×2 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108412 ms (missed cycles : 4). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108412 ms (missed cycles : 4).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202406 ms (missed cycles : 2). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202406 ms (missed cycles : 2).[0m ×2 + 41.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787136 ms (missed cycles : 3). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787136 ms (missed cycles : 3).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805373 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805373 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230861 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230861 ms (missed cycles : 2).[0m ×2 + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011764 ms (missed cycles : 2). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011764 ms (missed cycles : 2).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889157 ms (missed cycles : 4). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889157 ms (missed cycles : 4).[0m ×2 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852703 ms (missed cycles : 3). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852703 ms (missed cycles : 3).[0m ×2 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211471 ms (missed cycles : 2). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211471 ms (missed cycles : 2).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018062 ms (missed cycles : 5). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018062 ms (missed cycles : 5).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951454 ms (missed cycles : 3). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951454 ms (missed cycles : 3).[0m ×2 + 52.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222814 ms (missed cycles : 3). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222814 ms (missed cycles : 3).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210180 ms (missed cycles : 4). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210180 ms (missed cycles : 4).[0m ×2 + 54.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129943 ms (missed cycles : 3). + 54.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129943 ms (missed cycles : 3).[0m ×2 + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120041 ms (missed cycles : 2). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120041 ms (missed cycles : 2).[0m ×2 + 56.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539447 ms (missed cycles : 5). + 56.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539447 ms (missed cycles : 5).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 57.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491811 ms (missed cycles : 3). + 57.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491811 ms (missed cycles : 3).[0m ×2 + 58.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894777 ms (missed cycles : 4). + 58.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894777 ms (missed cycles : 4).[0m ×2 + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798726 ms (missed cycles : 2). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798726 ms (missed cycles : 2).[0m ×2 + 60.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 60.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825710 ms (missed cycles : 2). + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825710 ms (missed cycles : 2).[0m ×2 + 61.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786068586.06444025 seconds ×3 + 61.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.253ms + 61.20sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 8.50) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.20sWARNlocal_costmap.local_costmapSensor origin at (-2.73, 8.53) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.029ms + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.022ms + 61.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786068586.63605523 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288995 ms (missed cycles : 2). + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288995 ms (missed cycles : 2).[0m ×2 + 61.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.201ms + 62.04sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 62.07sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.167ms + 62.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234116 ms (missed cycles : 2). + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234116 ms (missed cycles : 2).[0m ×2 + 62.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.084ms + 63.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.795ms + 63.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758599 ms (missed cycles : 2). + 63.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758599 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.5s | 181 warnings · 174 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786068386.30894780 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.788ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786068386.87599540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.345ms + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.091ms + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.409ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466570 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466570 ms (missed cycles : 3).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 5.365ms + 7.50sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 4.507ms + 7.80sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 5.321ms + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474611 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474611 ms (missed cycles : 3).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.662ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964355 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964355 ms (missed cycles : 3).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 2.179ms + 10.10sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 1.916ms + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452581 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452581 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133535 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133535 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670657 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670657 ms (missed cycles : 2).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689109 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689109 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562218 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562218 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326841 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326841 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725362 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725362 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201614 ms (missed cycles : 3). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201614 ms (missed cycles : 3).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754564 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754564 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413630 ms (missed cycles : 3). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413630 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231041 ms (missed cycles : 4). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231041 ms (missed cycles : 4).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045846 ms (missed cycles : 2). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045846 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989547 ms (missed cycles : 3). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989547 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874045 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874045 ms (missed cycles : 3).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909009 ms (missed cycles : 5). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909009 ms (missed cycles : 5).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412520 ms (missed cycles : 3). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412520 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322215 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322215 ms (missed cycles : 2).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535091 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535091 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963616 ms (missed cycles : 3). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963616 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661498 ms (missed cycles : 4). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661498 ms (missed cycles : 4).[0m ×2 + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742381 ms (missed cycles : 4). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742381 ms (missed cycles : 4).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485777 ms (missed cycles : 2). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485777 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223573 ms (missed cycles : 4). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223573 ms (missed cycles : 4).[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916708 ms (missed cycles : 3). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916708 ms (missed cycles : 3).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173320 ms (missed cycles : 3). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173320 ms (missed cycles : 3).[0m ×2 + 35.78sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976687 ms (missed cycles : 3). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976687 ms (missed cycles : 3).[0m ×2 + 36.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.49sINFOobjective_server_nodePlanning for 58 path waypoints. ×3 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912195 ms (missed cycles : 3). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912195 ms (missed cycles : 3).[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 37.71sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427852 ms (missed cycles : 3). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427852 ms (missed cycles : 3).[0m ×2 + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379342 ms (missed cycles : 5). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379342 ms (missed cycles : 5).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 40.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 40.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860105 ms (missed cycles : 3). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860105 ms (missed cycles : 3).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888154 ms (missed cycles : 5). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888154 ms (missed cycles : 5).[0m ×2 + 41.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975118 ms (missed cycles : 4). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975118 ms (missed cycles : 4).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268307 ms (missed cycles : 2). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268307 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520100 ms (missed cycles : 3). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520100 ms (missed cycles : 3).[0m ×2 + 44.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 45.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567416 ms (missed cycles : 4). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567416 ms (missed cycles : 4).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532650 ms (missed cycles : 3). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532650 ms (missed cycles : 3).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 47.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343975 ms (missed cycles : 2). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343975 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308756 ms (missed cycles : 4). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308756 ms (missed cycles : 4).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400326 ms (missed cycles : 4). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400326 ms (missed cycles : 4).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049954 ms (missed cycles : 3). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049954 ms (missed cycles : 3).[0m ×2 + 52.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349051 ms (missed cycles : 4). + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349051 ms (missed cycles : 4).[0m ×2 + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810358 ms (missed cycles : 3). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810358 ms (missed cycles : 3).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507127 ms (missed cycles : 3). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507127 ms (missed cycles : 3).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499556 ms (missed cycles : 3). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499556 ms (missed cycles : 3).[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175499 ms (missed cycles : 3). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175499 ms (missed cycles : 3).[0m ×2 + 57.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806347 ms (missed cycles : 3). + 57.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806347 ms (missed cycles : 3).[0m ×2 + 58.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786068440.78621721 seconds ×3 + 58.20sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.61) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.20sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 11.12) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.707ms + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636218 ms (missed cycles : 4). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636218 ms (missed cycles : 4).[0m ×2 + 58.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.697ms + 58.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786068441.35173440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.100ms + 59.06sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 59.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.457ms + 59.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.023ms + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148900 ms (missed cycles : 4). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148900 ms (missed cycles : 4).[0m ×2 + 59.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.039ms + 60.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 60.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.302ms + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826686 ms (missed cycles : 2). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826686 ms (missed cycles : 2).[0m ×2 + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.680ms + 60.84sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 61.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.425ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 147 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.69sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042232 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042232 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113672 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113672 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836024 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836024 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330107 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330107 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999770 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999770 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221676 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221676 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495074 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495074 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194212 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194212 ms (missed cycles : 2).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169816 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169816 ms (missed cycles : 2).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940006 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940006 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585408 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585408 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789230 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789230 ms (missed cycles : 2).[0m ×2 + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363409 ms (missed cycles : 3). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363409 ms (missed cycles : 3).[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236585 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236585 ms (missed cycles : 2).[0m ×2 + 20.36sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.663ms + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558878 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558878 ms (missed cycles : 3).[0m ×2 + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967463 ms (missed cycles : 2). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967463 ms (missed cycles : 2).[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386788 ms (missed cycles : 3). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386788 ms (missed cycles : 3).[0m ×2 + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709463 ms (missed cycles : 2). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709463 ms (missed cycles : 2).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272900 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272900 ms (missed cycles : 3).[0m ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699618 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699618 ms (missed cycles : 3).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265079 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265079 ms (missed cycles : 2).[0m ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290952 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290952 ms (missed cycles : 2).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877176 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877176 ms (missed cycles : 2).[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322402 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322402 ms (missed cycles : 2).[0m ×2 + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016066 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016066 ms (missed cycles : 2).[0m ×2 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878511 ms (missed cycles : 2). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878511 ms (missed cycles : 2).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622948 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622948 ms (missed cycles : 2).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206468 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206468 ms (missed cycles : 2).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286301 ms (missed cycles : 2). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286301 ms (missed cycles : 2).[0m ×2 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067305 ms (missed cycles : 2). + 37.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067305 ms (missed cycles : 2).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298883 ms (missed cycles : 2). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298883 ms (missed cycles : 2).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954855 ms (missed cycles : 2). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954855 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877635 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877635 ms (missed cycles : 2).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102497 ms (missed cycles : 4). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102497 ms (missed cycles : 4).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615484 ms (missed cycles : 3). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615484 ms (missed cycles : 3).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2).[0m ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3). + 44.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2).[0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2).[0m ×2 + 47.35sINFOjoint_trajectory_controllerGoal reached, success! + 47.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786068287.64421701 seconds ×3 + 47.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786068288.19723868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4).[0m ×2 + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3).[0m ×2 + 49.15sINFOobjective_server_nodeFound path in 0 iterations (3.2277e-05 s). ×2 + 49.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 110 warnings · 123 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562060 ms (missed cycles : 3). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562060 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.733ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110513 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110513 ms (missed cycles : 4).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.81sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786068353.81892538 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352379 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352379 ms (missed cycles : 2).[0m ×2 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786068355.38881135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067594 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067594 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253970 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253970 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153472 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153472 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132375 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132375 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182218 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182218 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.559ms + 9.39sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.829ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.876ms + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986107 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986107 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.562ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978407 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978407 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.392ms + 12.00sINFOamclParticle filter update iteration stats: 4570 particles 723 points - 8.388ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465457 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465457 ms (missed cycles : 3).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 3804 particles 723 points - 4.949ms + 12.98sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.198ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480152 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480152 ms (missed cycles : 3).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.191ms + 13.99sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 1.899ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741423 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741423 ms (missed cycles : 2).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.498ms + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672329 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672329 ms (missed cycles : 2).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173755 ms (missed cycles : 4). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173755 ms (missed cycles : 4).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928757 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928757 ms (missed cycles : 2).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571846 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571846 ms (missed cycles : 2).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424504 ms (missed cycles : 3). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424504 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020555 ms (missed cycles : 4). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020555 ms (missed cycles : 4).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550427 ms (missed cycles : 4). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550427 ms (missed cycles : 4).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436993 ms (missed cycles : 3). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436993 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831410 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831410 ms (missed cycles : 2).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160550 ms (missed cycles : 2). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160550 ms (missed cycles : 2).[0m ×2 + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987379 ms (missed cycles : 3). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987379 ms (missed cycles : 3).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259134 ms (missed cycles : 4). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259134 ms (missed cycles : 4).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418987 ms (missed cycles : 3). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418987 ms (missed cycles : 3).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847004 ms (missed cycles : 4). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847004 ms (missed cycles : 4).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893580 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893580 ms (missed cycles : 2).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835150 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835150 ms (missed cycles : 3).[0m ×2 + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4).[0m ×2 + 35.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786068386.30894780 seconds ×3 + 35.38sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.38sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.788ms + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4).[0m ×2 + 35.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 35.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786068386.87599540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.345ms + 36.27sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 36.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3).[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 37.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 37.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 37.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3).[0m ×2 + 37.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.091ms + 38.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 38.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.409ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.9s | 62 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491811 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894777 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894777 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798726 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798726 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825710 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825710 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786068586.06444025 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.253ms + 3.83sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 8.50) 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 (-2.73, 8.53) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.029ms + 4.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.022ms + 4.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786068586.63605523 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288995 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288995 ms (missed cycles : 2).[0m ×2 + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.201ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.167ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234116 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234116 ms (missed cycles : 2).[0m ×2 + 5.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.084ms + 6.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.795ms + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758599 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758599 ms (missed cycles : 2).[0m ×2 + 7.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565357 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565357 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513761 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513761 ms (missed cycles : 3).[0m ×2 + 9.09sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 9.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (1.455e-06 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (1.156e-06 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (1.096e-06 s). ×2 + 9.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051539 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051539 ms (missed cycles : 3).[0m ×2 + 9.97sINFOobjective_server_nodeFound path in 29 iterations (0.0463195 s). ×2 + 10.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.89sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647572 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647572 ms (missed cycles : 3).[0m ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359618 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359618 ms (missed cycles : 3).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895417 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895417 ms (missed cycles : 3).[0m ×2 + 13.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.756ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147688 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147688 ms (missed cycles : 4).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.839ms + 14.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3).[0m ×2 + 15.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 15.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3).[0m ×2 + 16.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.588ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3).[0m ×2 + 17.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786068599.98143649 seconds ×3 + 17.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.843ms + 18.05sINFOros2_control_nodeMuJoCo sim: 1.73% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.603ms ×2 + 18.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786068600.57756591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.21sINFOmove_groupClearing octomap...[0m ×2 + 18.21sINFOmove_groupOctomap cleared.[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 18.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.839ms + 18.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786068601.18769979 seconds ×3 + 19.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.954ms + 19.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786068601.73846912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3).[0m ×2 + 19.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.582ms + 19.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 20.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786068602.42859721 seconds ×3 + 20.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.759ms + 20.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 85 errors · 33 warnings · 380 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 0.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3).[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.588ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786068599.98143649 seconds ×3 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.843ms + 2.99sINFOros2_control_nodeMuJoCo sim: 1.73% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.603ms ×2 + 3.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786068600.57756591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.839ms + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786068601.18769979 seconds ×3 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.954ms + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786068601.73846912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3).[0m ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.582ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786068602.42859721 seconds ×3 + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.759ms + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.125ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509489 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509489 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714096 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714096 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171554 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171554 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943490 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943490 ms (missed cycles : 2).[0m ×2 + 10.52sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.58sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORweb_video_auth_proxy-35process has died [pid 10709, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.59sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155496 ms (missed cycles : 2). + 10.62sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge_auth_proxy-34process has died [pid 10706, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.63sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 10.69sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.72sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.74sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.77sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.79sINFOvideo_server-33process has finished cleanly [pid 10703] ×2 + 10.79sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.82sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.85sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.88sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.91sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155496 ms (missed cycles : 2).[0m ×2 + 10.94sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.96sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.96sINFOtf2_web_republisher_node-32process has finished cleanly [pid 10702] ×2 + 10.98sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.00sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.04sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.04sINFOcontroller_managerShutdown request received.... + 11.04sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.04sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.04sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.04sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.04sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.04sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.04sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.04sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.04sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.04sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.04sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.04sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.04sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.04sINFOcontroller_managerShutting down the controller manager. + 11.06sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786068608.187 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.06sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786068608.187 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.06sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.07sINFOui_teleop_bridge-30process has finished cleanly [pid 10700] ×2 + 11.09sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.10sINFOcomponent_container_mt-28process has finished cleanly [pid 10698] ×2 + 11.12sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.14sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.14sINFOexecute_objective_bridge-29process has finished cleanly [pid 10699] ×2 + 11.14sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 10695] ×2 + 11.16sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.19sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.19sINFOmove_joint_resampler_node-24process has finished cleanly [pid 10694] ×2 + 11.19sINFOcomponent_container_mt-27process has finished cleanly [pid 10697] ×2 + 11.21sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.21sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.21sINFOmap_serverDeactivating + 11.21sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.22sINFOmap_serverCleaning up + 11.22sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.22sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.23sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.23sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.23sINFOcontroller_serverDeactivating + 11.23sINFOlocal_costmap.local_costmapDeactivating + 11.23sINFOwaypoint_manager_node-23process has finished cleanly [pid 10693] ×2 + 11.24sINFOparameter_manager_node-22process has finished cleanly [pid 10692] ×2 + 11.24sINFOvideo_server2026/08/07 02:10:08 INF shutting down gracefully ×2 + 11.24sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.24sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.24sINFOvideo_server2026/08/07 02:10:08 INF [WebRTC] closing ×2 + 11.24sINFOvideo_server2026/08/07 02:10:08 INF [RTSP] closing ×2 + 11.24sINFOvideo_server2026/08/07 02:10:08 INF waiting for running hooks ×2 + 11.24sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.24sERRORamclThe bond connection to the lifecycle manager has been broken + 11.24sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.24sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.24sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.25sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.25sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.25sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.25sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.25sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.25sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.25sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.25sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.26sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.26sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.26sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.26sINFOmove_groupDeleting MoveItCpp[0m ×2 + 11.26sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.26sINFOmove_groupStopping world geometry monitor[0m ×2 + 11.26sINFOmove_groupStopping planning scene monitor[0m ×2 + 11.26sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.26sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.26sINFOodom_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 + 11.26sINFOodom_qos_relay.pymain() ×2 + 11.26sINFOodom_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 + 11.26sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.26sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.26sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.26sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.26sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.26sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.26sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.26sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.26sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.26sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.26sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.26sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.26sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.26sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.26sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.27sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.27sINFOobjective_server_node[2026-08-07 02:10:08.646] [moveit_pro_license] [info] ×2 + 11.27sINFOobjective_server_node************************************************* ×4 + 11.27sINFOobjective_server_node* MoveIt Pro License ×2 + 11.27sINFOobjective_server_node* Application has successfully terminated ×2 + 11.28sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.28sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.28sINFOcontroller_serverCleaning up + 11.28sINFOlocal_costmap.local_costmapCleaning up + 11.28sINFOobjective_server_node_main-26process has finished cleanly [pid 10696] ×2 + 11.28sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.30sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 10583] ×2 + 11.32sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10582] ×2 + 11.32sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.32sINFOsmoother_serverDeactivating + 11.32sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.33sINFOsmoother_serverCleaning up + 11.34sINFOmove_group-21process has finished cleanly [pid 10691] ×2 + 11.35sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.35sINFOplanner_serverDeactivating + 11.35sINFOglobal_costmap.global_costmapDeactivating + 11.39sINFOstatic_transform_publisher-4process has finished cleanly [pid 10579] ×2 + 11.41sINFOstatic_transform_publisher-3process has finished cleanly [pid 10578] ×2 + 11.41sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 10581] ×2 + 11.43sERRORodom_qos_relay.py-5process has died [pid 10580, 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 + 11.43sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.43sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.43sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.43sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.43sINFOvelocity_smootherDeactivating + 11.43sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.44sERRORcomponent_container_isolated-2process has died [pid 10577, 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_9v6s43gp --params-file /tmp/launch_params_zq3wkme2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.54sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.54sINFOwaypoint_followerDeactivating + 11.54sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.65sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.65sINFObt_navigatorDeactivating + 11.65sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.77sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.77sINFObehavior_serverDeactivating + 11.77sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.79sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.79sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.80sINFOplanner_serverCleaning up + 11.81sINFOglobal_costmap.global_costmapCleaning up + 11.82sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.82sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.86sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.86sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.86sINFObt_navigatorCleaning up + 11.88sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.88sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.88sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.88sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.88sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.88sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.88sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.88sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.89sINFOvelocity_smootherCleaning up + 11.89sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.89sINFOwaypoint_followerCleaning up + 11.91sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.92sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.92sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.92sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.92sINFObehavior_serverCleaning up + 11.98sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.98sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.98sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.98sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.00sINFObt_navigatorCompleted Cleaning up + 12.00sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.00sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.00sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.34sERRORcomponent_container_isolated-1process has died [pid 10576, 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_9v6s43gp --params-file /tmp/launch_params_rsyvdf7y -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.78sINFOros2_control_node-9process has finished cleanly [pid 10584] ×2 + 13.77sINFOweb_bridge-31process has finished cleanly [pid 10701] ×2 + 13.77sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 55 warnings · 99 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507127 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507127 ms (missed cycles : 3).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499556 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499556 ms (missed cycles : 3).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175499 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175499 ms (missed cycles : 3).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806347 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806347 ms (missed cycles : 3).[0m ×2 + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786068440.78621721 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.61) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 11.12) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.707ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636218 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636218 ms (missed cycles : 4).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.697ms + 4.22sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786068441.35173440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.100ms + 4.63sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.457ms + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.023ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148900 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148900 ms (missed cycles : 4).[0m ×2 + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.039ms + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.302ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826686 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826686 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.680ms + 6.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.425ms + 6.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.974ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185202 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185202 ms (missed cycles : 3).[0m ×2 + 7.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.776ms + 7.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.670ms + 7.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.451ms + 8.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078874 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078874 ms (missed cycles : 2).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 4104 particles 723 points - 8.721ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240520 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240520 ms (missed cycles : 3).[0m ×2 + 10.07sINFOamclParticle filter update iteration stats: 3399 particles 723 points - 7.047ms + 10.57sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 3.873ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201619 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201619 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 2544 particles 723 points - 4.088ms + 11.57sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.161ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694636 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694636 ms (missed cycles : 3).[0m ×2 + 12.07sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.423ms + 12.57sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.894ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400956 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400956 ms (missed cycles : 3).[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.678ms + 13.57sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 1.940ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004154 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004154 ms (missed cycles : 2).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.562ms + 14.40sINFOobjective_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 + 14.41sINFOjoint_trajectory_controllerGot request to cancel goal + 14.41sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.41sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.41sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.41sERRORobjective_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: 1786068451.54547954 seconds ×3 + 14.47sWARNlocal_costmap.local_costmapSensor origin at (-0.70, 3.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.47sWARNlocal_costmap.local_costmapSensor origin at (-1.60, 3.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.749ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566998 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566998 ms (missed cycles : 3).[0m ×2 + 14.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.003ms + 14.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786068452.10566807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.917ms + 15.41sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 15.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.674ms + 15.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.413ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818610 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818610 ms (missed cycles : 2).[0m ×2 + 16.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.910ms + 16.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.426ms + 16.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.073ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776813 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776813 ms (missed cycles : 2).[0m ×2 + 16.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.251ms + 17.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.122ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 41 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 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 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562060 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562060 ms (missed cycles : 3).[0m ×2 + 8.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.733ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110513 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110513 ms (missed cycles : 4).[0m ×2 + 8.64sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786068353.81892538 seconds ×3 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352379 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352379 ms (missed cycles : 2).[0m ×2 + 10.21sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786068355.38881135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067594 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067594 ms (missed cycles : 2).[0m ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253970 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253970 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153472 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153472 ms (missed cycles : 2).[0m ×2 + 12.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 5.0s | 35 warnings · 60 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618850 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618850 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399496 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399496 ms (missed cycles : 4).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697330 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697330 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786068523.90594172 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 13.69) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.28) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.558ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168805 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168805 ms (missed cycles : 2).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.018ms + 4.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786068524.46615195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 5.00sINFOjoint_trajectory_controllerReceived new action goal + 5.00sINFOjoint_trajectory_controllerAccepted new action goal + 5.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 8.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 9.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.9s | 33 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.60sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786068287.64421701 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786068288.19723868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.2277e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548924 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548924 ms (missed cycles : 3).[0m ×2 + 7.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786068291.52736235 seconds ×3 + 8.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786068292.08614683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722271 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722271 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433977 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433977 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646548 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646548 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147688 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147688 ms (missed cycles : 4).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.839ms + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.588ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786068599.98143649 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.843ms + 4.06sINFOros2_control_nodeMuJoCo sim: 1.73% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.603ms ×2 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786068600.57756591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.22sINFOmove_groupClearing octomap...[0m ×2 + 4.22sINFOmove_groupOctomap cleared.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2).[0m ×2 + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.839ms + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786068601.18769979 seconds ×3 + 5.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.954ms + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786068601.73846912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3).[0m ×2 + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.582ms + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 6.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786068602.42859721 seconds ×3 + 6.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.759ms + 6.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.125ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509489 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509489 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786068287.64421701 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786068288.19723868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodeFound path in 0 iterations (3.2277e-05 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.83sINFOjoint_trajectory_controllerReceived new action goal + 1.83sINFOjoint_trajectory_controllerAccepted new action goal + 1.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3).[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548924 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548924 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786068291.52736235 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786068292.08614683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722271 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722271 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433977 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433977 ms (missed cycles : 3).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646548 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646548 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 20 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786068386.30894780 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.788ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786068386.87599540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.345ms + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.091ms + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.409ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147688 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147688 ms (missed cycles : 4).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.839ms + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544968 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 1.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589703 ms (missed cycles : 3).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.588ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019318 ms (missed cycles : 3).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786068599.98143649 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.843ms + 4.06sINFOros2_control_nodeMuJoCo sim: 1.73% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.603ms ×2 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786068600.57756591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.22sINFOmove_groupClearing octomap...[0m ×2 + 4.22sINFOmove_groupOctomap cleared.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888500 ms (missed cycles : 2).[0m ×2 + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.864ms + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.839ms + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786068601.18769979 seconds ×3 + 5.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.954ms + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786068601.73846912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142664 ms (missed cycles : 3).[0m ×2 + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.582ms + 5.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.410ms + 6.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786068602.42859721 seconds ×3 + 6.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.759ms + 6.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514883 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042232 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042232 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786068287.64421701 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786068288.19723868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.2277e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743065 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673614 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130095 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022077 ms (missed cycles : 2).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786068287.64421701 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786068288.19723868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019476 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735884 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.2277e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 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 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 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 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 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 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 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 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011013 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949345 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924630 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628663 ms (missed cycles : 3).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786068349.11629176 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.004ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475564 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.032ms + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786068349.67879128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.490ms + 4.89sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 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 + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970070 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.009ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127499 ms (missed cycles : 2).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.527ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 20 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786068386.30894780 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.788ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786068386.87599540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.345ms + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.091ms + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.409ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 20 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787990 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230016 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639531 ms (missed cycles : 4).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786068386.30894780 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.788ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147535 ms (missed cycles : 4).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.130ms + 4.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786068386.87599540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.345ms + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983891 ms (missed cycles : 3).[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.810ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235120 ms (missed cycles : 3).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.091ms + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.409ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 33 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal + 0.00sINFOjoint_trajectory_controllerAccepted new action goal + 0.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110656 ms (missed cycles : 3).[0m ×2 + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.758ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870194 ms (missed cycles : 2).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.532ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780992 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409848 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786068528.85630298 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786068529.44427967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581908 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (1.073e-06 s). ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017034 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574646 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 6.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 6.73sINFOjoint_trajectory_controllerReceived new action goal + 6.73sINFOjoint_trajectory_controllerAccepted new action goal + 6.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985055 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985055 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.89sINFOmove_groupClearing octomap...[0m ×2 + 3.89sINFOmove_groupOctomap cleared.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 6.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985055 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985055 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.89sINFOmove_groupClearing octomap...[0m ×2 + 3.89sINFOmove_groupOctomap cleared.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.77sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047982 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.83sINFOmove_groupClearing octomap...[0m ×2 + 2.83sINFOmove_groupOctomap cleared.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.75sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 6.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042232 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042232 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885275 ms (missed cycles : 3).[0m ×2 + 0.16sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423311 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786068242.02554178 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 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786068242.03578615 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605426 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786068242.59347296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786068242.60359454 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786068243.15720820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786068243.30781269 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932135 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786068243.90368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786068243.96381235 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786068244.51954889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375654 ms (missed cycles : 3).[0m ×2 + 5.35sWARNobjective_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516231 ms (missed cycles : 3).[0m ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||