69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.2s | 58 errors · 874 warnings · 1968 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/2026-08-07-02-56-04-182852-1bc6ee1d67ed-9373 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.28sINFOros2_control_node-9process started with pid [9431] + 14.28sINFOmove_group-21process started with pid [9538] + 14.28sINFOparameter_manager_node-22process started with pid [9539] + 14.28sINFOwaypoint_manager_node-23process started with pid [9540] + 14.28sINFOmove_joint_resampler_node-24process started with pid [9544] + 14.28sINFOmove_end_effector_resampler_node-25process started with pid [9545] + 14.28sINFOobjective_server_node_main-26process started with pid [9547] + 14.29sINFOcomponent_container_mt-27process started with pid [9548] + 14.29sINFOcomponent_container_mt-28process started with pid [9549] + 14.29sINFOexecute_objective_bridge-29process started with pid [9550] + 14.29sINFOui_teleop_bridge-30process started with pid [9551] + 14.29sINFOweb_bridge-31process started with pid [9552] + 14.29sINFOtf2_web_republisher_node-32process started with pid [9557] + 14.29sINFOvideo_server-33process started with pid [9563] + 14.29sINFOweb_bridge_auth_proxy-34process started with pid [9570] + 14.29sINFOweb_video_auth_proxy-35process started with pid [9571] + 14.30sINFOcomponent_container_isolated-1process started with pid [9423] + 14.30sINFOcomponent_container_isolated-2process started with pid [9424] + 14.30sINFOstatic_transform_publisher-3process started with pid [9425] + 14.30sINFOstatic_transform_publisher-4process started with pid [9426] + 14.30sINFOodom_qos_relay.py-5process started with pid [9427] + 14.30sINFOforward_stereo_publisher.py-6process started with pid [9428] + 14.30sINFOscan_to_scan_filter_chain-7process started with pid [9429] + 14.30sINFOscan_to_scan_filter_chain-8process started with pid [9430] + 14.30sINFOros2-10process started with pid [9527] + 14.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.32sINFOros2-11process started with pid [9528] + 14.32sINFOros2-12process started with pid [9529] + 14.32sINFOros2-13process started with pid [9530] + 14.32sINFOros2-14process started with pid [9531] + 14.32sINFOros2-15process started with pid [9532] + 14.32sINFOros2-16process started with pid [9533] + 14.32sINFOros2-17process started with pid [9534] + 14.32sINFOros2-18process started with pid [9535] + 14.32sINFOros2-19process started with pid [9536] + 14.32sINFOros2-20process started with pid [9537] + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 14.48sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.48sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.48sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.48sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.48sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.49sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 14.49sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 14.49sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 14.49sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 14.49sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 14.49sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 14.49sWARNros2_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 + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481713 ms (missed cycles : 2).[0m + 14.50sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.51sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 14.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.61sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.65sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.65sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.67sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 14.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.90sWARNscan_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 + 14.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584570 ms (missed cycles : 2).[0m + 15.46sINFOmove_groupLoaded robot model in 0.388691 seconds[0m + 15.47sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 15.47sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.53sINFOvideo_server2026/08/07 02:56:23 INF MediaMTX v1.19.3, linux, amd64 + 15.53sINFOvideo_server2026/08/07 02:56:23 INF configuration loaded from /tmp/moveit-webrtc-i9n23j_5/mediamtx.yml + 15.54sINFOvideo_server2026/08/07 02:56:23 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 15.54sINFOvideo_server2026/08/07 02:56:23 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 15.60sINFOwaypoint_manager_nodeLoaded robot model in 0.406962 seconds[0m + 15.61sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.61sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.26sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.26sWARNmove_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 + 16.26sWARNmove_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 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.27sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.27sWARNmove_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 + 16.28sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.37sWARNwaypoint_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 + 16.39sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.39sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553673 ms (missed cycles : 3).[0m + 16.74sINFOmove_group[2026-08-07 02:56:24.350] [moveit_pro_license] [info] + 16.74sINFOmove_group************************************************* ×6 + 16.74sINFOmove_group* MoveIt Pro License ×3 + 16.74sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.74sINFOwaypoint_manager_node[2026-08-07 02:56:24.353] [moveit_pro_license] [info] + 16.74sINFOwaypoint_manager_node************************************************* ×6 + 16.75sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.75sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 17.22sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.22sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.40sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 17.40sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 17.40sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 17.41sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.41sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 17.41sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 17.41sINFOmove_groupStarting planning scene monitor[0m ×3 + 17.41sINFOmove_groupListening to '/planning_scene'[0m ×3 + 17.41sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 17.41sINFOmove_groupListening to 'collision_object'[0m ×3 + 17.41sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 17.55sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.55sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.55sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.55sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.55sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.55sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.55sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.55sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.55sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.55sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.55sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.55sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.56sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.56sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.56sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.56sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.56sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.57sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 17.57sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 17.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 17.68sWARNros2_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 + 17.71sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 17.71sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 17.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 17.72sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 17.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717934 ms (missed cycles : 2).[0m + 17.88sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 17.88sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 17.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 17.88sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 17.88sINFOcomponent_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 + 17.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 17.90sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 17.91sINFOobjective_server_node[2026-08-07 02:56:25.522] [moveit_pro_license] [info] + 17.91sINFOobjective_server_node************************************************* ×8 + 17.91sINFOobjective_server_node* MoveIt Pro License ×4 + 17.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.99sINFOobjective_server_nodeLoaded robot model in 0.0297816 seconds[0m + 18.00sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.00sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.18sINFOros2_control_node[2026-08-07 02:56:25.790] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.18sINFOros2_control_node[2026-08-07 02:56:25.794] [info] Controller state will be published at 10 Hz. + 18.18sINFOros2_control_node[2026-08-07 02:56:25.795] [info] VelocityForceController 'on_configure' succeeded. + 18.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.29sINFOcomponent_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 + 18.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 18.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 18.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.48sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.48sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.49sWARNobjective_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 + 18.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.53sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 18.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 18.54sWARNcomponent_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 + 18.56sINFOobjective_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 + 18.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.57sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.57sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.58sINFOros2-18process has finished cleanly [pid 9535] + 18.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 18.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 18.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 18.83sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 18.90sINFOcomponent_container_mtLoaded robot model in 0.368647 seconds[0m + 18.90sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.90sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419149 ms (missed cycles : 2).[0m + 19.13sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 19.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.15sINFOros2_control_node[2026-08-07 02:56:26.763] [info] Controller state will be published at 20 Hz. + 19.15sINFOros2_control_node[2026-08-07 02:56:26.764] [info] JointVelocityController 'on_configure' succeeded. + 19.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.19sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.29sINFOmove_group ×12 + 19.29sINFOmove_group******************************************************** ×6 + 19.29sINFOmove_group* MoveGroup using: ×3 + 19.29sINFOmove_group* - apply_planning_scene_service ×3 + 19.29sINFOmove_group* - clear_octomap_service ×3 + 19.29sINFOmove_group* - get_group_urdf ×3 + 19.29sINFOmove_group* - load_geometry_from_file ×3 + 19.29sINFOmove_group* - get_planning_scene_service ×3 + 19.29sINFOmove_group* - kinematics_service ×3 + 19.29sINFOmove_group* - save_geometry_to_file ×3 + 19.29sINFOmove_group* - GetPlanningGroups ×3 + 19.29sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.30sINFOmove_group[0m ×3 + 19.30sINFOmove_group[92mYou can start planning now![0m ×3 + 19.35sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 19.41sWARNcomponent_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 + 19.41sWARNcomponent_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 + 19.41sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.42sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.43sWARNcomponent_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 + 19.44sWARNcomponent_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 + 19.44sWARNcomponent_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 + 19.44sWARNcomponent_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 + 19.44sWARNcomponent_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 + 19.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 19.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 19.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 19.54sINFOros2-19process has finished cleanly [pid 9536] + 19.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 19.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 19.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 19.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 19.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 19.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 19.64sINFOcomponent_container_mt[2026-08-07 02:56:27.251] [moveit_pro_license] [info] + 19.64sINFOcomponent_container_mt************************************************* ×6 + 19.64sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.64sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.97sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.97sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.97sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 20.02sINFOros2-12process has finished cleanly [pid 9529] + 20.02sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 20.02sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 20.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 20.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 20.05sWARNobjective_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 + 20.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 20.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606694 ms (missed cycles : 2).[0m + 20.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 20.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 20.53sINFOros2_control_node[2026-08-07 02:56:28.144] [info] Controller state will be published at 20 Hz. + 20.53sINFOros2_control_node[2026-08-07 02:56:28.145] [info] JointVelocityController 'on_configure' succeeded. + 20.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 20.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 20.89sINFOros2-20process has finished cleanly [pid 9537] + 20.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 20.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 20.96sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 20.97sINFOros2_control_nodeconfigure successful[0m ×9 + 20.97sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 20.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 21.06sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882458 ms (missed cycles : 2).[0m + 21.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 21.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 21.33sINFOros2-10process has finished cleanly [pid 9527] + 21.39sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 21.39sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 21.83sINFOros2_control_node[2026-08-07 02:56:29.445] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.83sINFOros2_control_node[2026-08-07 02:56:29.446] [info] Controller state will be published at 10 Hz. + 21.84sINFOros2_control_node[2026-08-07 02:56:29.447] [info] VelocityForceController 'on_configure' succeeded. + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768224 ms (missed cycles : 2).[0m + 22.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 22.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 22.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 22.23sINFOros2-17process has finished cleanly [pid 9534] + 22.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 22.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 22.32sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 22.33sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 22.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 22.33sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 22.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 22.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 22.71sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 22.71sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 22.71sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 22.72sINFOros2-16process has finished cleanly [pid 9533] + 22.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 22.77sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 22.77sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 22.78sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 23.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 23.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 23.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 23.16sINFOros2-11process has finished cleanly [pid 9528] + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902231 ms (missed cycles : 2).[0m + 23.20sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 23.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 23.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 23.22sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 23.58sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 23.58sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 23.58sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 23.60sINFOros2-13process has finished cleanly [pid 9530] + 23.64sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 23.64sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 24.09sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 24.09sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 24.09sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_t0s0gcdy --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_m01b5u5m --params-file /tmp/launch_params_3brx_pn6 [0m + 24.11sINFOros2-15process has finished cleanly [pid 9532] + 24.12sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 24.16sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 24.16sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 24.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 24.16sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 24.17sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233695 ms (missed cycles : 4).[0m + 24.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 24.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 24.52sINFOros2-14process has finished cleanly [pid 9531] + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137038 ms (missed cycles : 3).[0m + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010848 ms (missed cycles : 3).[0m + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807201 ms (missed cycles : 2).[0m + 27.69sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421708 ms (missed cycles : 3).[0m + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949708 ms (missed cycles : 3).[0m + 29.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071397.23859930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.63sINFOmove_groupClearing octomap...[0m ×4 + 29.63sINFOmove_groupOctomap cleared.[0m ×4 + 29.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071397.24885607 seconds + 30.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071397.81390905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071397.82403159 seconds + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715443 ms (missed cycles : 3).[0m + 30.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071398.37259316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071398.52325511 seconds + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844637 ms (missed cycles : 2).[0m + 31.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071399.11444712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.51sINFOobjective_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 + 31.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 31.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 31.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 31.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071399.18459249 seconds + 32.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071399.74220800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 32.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 32.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 32.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 32.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961001 ms (missed cycles : 3).[0m + 33.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×7 + 33.21sINFOobjective_server_nodePlanning for 177 path waypoints. + 33.51sINFOros2_control_nodeReceived new action goal[0m ×18 + 33.51sINFOros2_control_nodeAccepted new action goal[0m ×18 + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674063 ms (missed cycles : 3).[0m + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416818 ms (missed cycles : 3).[0m + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051475 ms (missed cycles : 3).[0m + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383580 ms (missed cycles : 3).[0m + 37.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921102 ms (missed cycles : 2).[0m + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945166 ms (missed cycles : 3).[0m + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007154 ms (missed cycles : 4).[0m + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509792 ms (missed cycles : 3).[0m + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596964 ms (missed cycles : 3).[0m + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754574 ms (missed cycles : 3).[0m + 44.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719216 ms (missed cycles : 2).[0m + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186526 ms (missed cycles : 4).[0m + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411687 ms (missed cycles : 3).[0m + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259607 ms (missed cycles : 3).[0m + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209092 ms (missed cycles : 2).[0m + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323654 ms (missed cycles : 2).[0m + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118350 ms (missed cycles : 4).[0m + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424949 ms (missed cycles : 3).[0m + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731347 ms (missed cycles : 3).[0m + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476049 ms (missed cycles : 3).[0m + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549381 ms (missed cycles : 2).[0m + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047555 ms (missed cycles : 2).[0m + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860246 ms (missed cycles : 2).[0m + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502012 ms (missed cycles : 3).[0m + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123007 ms (missed cycles : 2).[0m + 60.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346199 ms (missed cycles : 3).[0m + 61.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807051 ms (missed cycles : 2).[0m + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001665 ms (missed cycles : 3).[0m + 63.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686740 ms (missed cycles : 3).[0m + 64.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151124 ms (missed cycles : 3).[0m + 65.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123111 ms (missed cycles : 3).[0m + 66.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604034 ms (missed cycles : 3).[0m + 68.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026720 ms (missed cycles : 2).[0m + 69.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763343 ms (missed cycles : 2).[0m + 70.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924591 ms (missed cycles : 3).[0m + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845923 ms (missed cycles : 3).[0m + 72.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276703 ms (missed cycles : 3).[0m + 73.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923204 ms (missed cycles : 3).[0m + 74.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755545 ms (missed cycles : 2).[0m + 75.11sINFOros2_control_nodeGoal reached, success![0m ×16 + 75.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786071442.73882222 seconds + 75.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250272 ms (missed cycles : 2).[0m + 75.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071443.31270790 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763059 ms (missed cycles : 2).[0m + 77.01sINFOobjective_server_nodeFound path in 0 iterations (2.4826e-05 s). + 77.01sINFOobjective_server_nodePath shortcutter: [X____X] + 77.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 77.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744896 ms (missed cycles : 3).[0m + 78.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486736 ms (missed cycles : 3).[0m + 79.14sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786071446.75285530 seconds + 79.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786071447.31136823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 79.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738725 ms (missed cycles : 3).[0m + 80.14sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). + 80.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687417 ms (missed cycles : 3).[0m + 82.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290221 ms (missed cycles : 2).[0m + 82.43sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 83.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986634 ms (missed cycles : 2).[0m + 84.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834108 ms (missed cycles : 3).[0m + 85.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841806 ms (missed cycles : 3).[0m + 86.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049420 ms (missed cycles : 4).[0m + 87.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087908 ms (missed cycles : 2).[0m + 87.70sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m + 88.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511118 ms (missed cycles : 3).[0m + 89.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064007 ms (missed cycles : 4).[0m + 90.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397082 ms (missed cycles : 3).[0m + 91.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113130 ms (missed cycles : 3).[0m + 92.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591136 ms (missed cycles : 4).[0m + 93.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172046 ms (missed cycles : 3).[0m + 94.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443800 ms (missed cycles : 3).[0m + 95.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424004 ms (missed cycles : 3).[0m + 96.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845877 ms (missed cycles : 3).[0m + 98.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905668 ms (missed cycles : 3).[0m + 99.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283616 ms (missed cycles : 2).[0m +100.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470436 ms (missed cycles : 3).[0m +101.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540487 ms (missed cycles : 4).[0m +102.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877715 ms (missed cycles : 2).[0m +103.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054318 ms (missed cycles : 4).[0m +104.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475845 ms (missed cycles : 3).[0m +105.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078736 ms (missed cycles : 4).[0m +107.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955592 ms (missed cycles : 2).[0m +108.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825263 ms (missed cycles : 2).[0m +109.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457686 ms (missed cycles : 3).[0m +110.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642786 ms (missed cycles : 4).[0m +111.20sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +111.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831663 ms (missed cycles : 5).[0m +112.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924539 ms (missed cycles : 2).[0m +113.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093040 ms (missed cycles : 2).[0m +114.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174104 ms (missed cycles : 3).[0m +116.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045188 ms (missed cycles : 4).[0m +117.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302144 ms (missed cycles : 4).[0m +118.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382413 ms (missed cycles : 3).[0m +119.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271416 ms (missed cycles : 2).[0m +120.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898110 ms (missed cycles : 2).[0m +121.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985016 ms (missed cycles : 2).[0m +122.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231274 ms (missed cycles : 4).[0m +123.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741062 ms (missed cycles : 2).[0m +124.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589412 ms (missed cycles : 3).[0m +125.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767881 ms (missed cycles : 2).[0m +126.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416811 ms (missed cycles : 4).[0m +127.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403179 ms (missed cycles : 2).[0m +128.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717526 ms (missed cycles : 2).[0m +130.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059271 ms (missed cycles : 4).[0m +131.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194285 ms (missed cycles : 4).[0m +132.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425297 ms (missed cycles : 3).[0m +133.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398842 ms (missed cycles : 3).[0m +134.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334471 ms (missed cycles : 3).[0m +135.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161999 ms (missed cycles : 2).[0m +136.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879786 ms (missed cycles : 4).[0m +136.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786071504.46149969 seconds +137.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786071505.04239607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +137.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157839 ms (missed cycles : 3).[0m +137.84sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). +137.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +138.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855593 ms (missed cycles : 3).[0m +139.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105228 ms (missed cycles : 2).[0m +140.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160766 ms (missed cycles : 2).[0m +141.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786071509.20254970 seconds +141.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786144 ms (missed cycles : 3).[0m +142.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302413 ms (missed cycles : 4).[0m +143.15sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786071510.76761246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +143.56sINFOobjective_server_nodeFound path in 0 iterations (7.42e-07 s). +144.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304247 ms (missed cycles : 2).[0m +145.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340326 ms (missed cycles : 3).[0m +145.68sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +146.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590720 ms (missed cycles : 3).[0m +147.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854058 ms (missed cycles : 2).[0m +147.70sINFOros2_control_nodeMuJoCo sim: 1.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +148.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482916 ms (missed cycles : 3).[0m +149.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585950 ms (missed cycles : 3).[0m +150.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356980 ms (missed cycles : 3).[0m +151.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465878 ms (missed cycles : 3).[0m +152.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655136 ms (missed cycles : 2).[0m +153.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406498 ms (missed cycles : 3).[0m +154.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980523 ms (missed cycles : 2).[0m +155.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862257 ms (missed cycles : 3).[0m +156.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447909 ms (missed cycles : 4).[0m +157.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859298 ms (missed cycles : 3).[0m +158.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973917 ms (missed cycles : 2).[0m +159.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047529 ms (missed cycles : 3).[0m +160.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829675 ms (missed cycles : 4).[0m +161.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662836 ms (missed cycles : 2).[0m +162.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782248 ms (missed cycles : 2).[0m +163.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260317 ms (missed cycles : 4).[0m +164.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877441 ms (missed cycles : 2).[0m +166.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889820 ms (missed cycles : 4).[0m +167.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319843 ms (missed cycles : 4).[0m +168.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350604 ms (missed cycles : 3).[0m +169.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320525 ms (missed cycles : 4).[0m +170.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417116 ms (missed cycles : 2).[0m +171.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477387 ms (missed cycles : 4).[0m +172.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571181 ms (missed cycles : 4).[0m +173.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374502 ms (missed cycles : 3).[0m +174.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786071541.77777743 seconds +174.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.780055 ms (missed cycles : 5).[0m +174.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786071542.34518623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +175.15sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). +175.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980081 ms (missed cycles : 3).[0m +176.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078738 ms (missed cycles : 3).[0m +176.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +177.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336158 ms (missed cycles : 3).[0m +178.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405729 ms (missed cycles : 3).[0m +179.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687700 ms (missed cycles : 2).[0m +181.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801522 ms (missed cycles : 3).[0m +182.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749846 ms (missed cycles : 2).[0m +183.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960799 ms (missed cycles : 3).[0m +184.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351000 ms (missed cycles : 3).[0m +185.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012262 ms (missed cycles : 2).[0m +186.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547164 ms (missed cycles : 4).[0m +187.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358192 ms (missed cycles : 3).[0m +188.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991272 ms (missed cycles : 3).[0m +189.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534802 ms (missed cycles : 3).[0m +190.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728106 ms (missed cycles : 3).[0m +191.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732343 ms (missed cycles : 3).[0m +192.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663731 ms (missed cycles : 3).[0m +193.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733918 ms (missed cycles : 4).[0m +194.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661943 ms (missed cycles : 4).[0m +196.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200952 ms (missed cycles : 4).[0m +197.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877487 ms (missed cycles : 2).[0m +198.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383214 ms (missed cycles : 3).[0m +199.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681406 ms (missed cycles : 2).[0m +200.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923442 ms (missed cycles : 2).[0m +201.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062324 ms (missed cycles : 3).[0m +202.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104481 ms (missed cycles : 4).[0m +203.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429943 ms (missed cycles : 3).[0m +204.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440384 ms (missed cycles : 2).[0m +205.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359634 ms (missed cycles : 4).[0m +206.34sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +206.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508890 ms (missed cycles : 4).[0m +207.17sINFOobjective_server_nodePlanning for 50 path waypoints. +207.70sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +207.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540271 ms (missed cycles : 4).[0m +209.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802759 ms (missed cycles : 2).[0m +210.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442497 ms (missed cycles : 3).[0m +211.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.113046 ms (missed cycles : 4).[0m +212.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313347 ms (missed cycles : 2).[0m +213.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786632 ms (missed cycles : 5).[0m +214.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622407 ms (missed cycles : 4).[0m +215.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398325 ms (missed cycles : 3).[0m +216.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235081 ms (missed cycles : 4).[0m +217.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439244 ms (missed cycles : 2).[0m +218.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369211 ms (missed cycles : 3).[0m +219.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528325 ms (missed cycles : 3).[0m +220.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766205 ms (missed cycles : 4).[0m +221.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109590 ms (missed cycles : 4).[0m +222.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701479 ms (missed cycles : 3).[0m +223.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857027 ms (missed cycles : 2).[0m +224.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168068 ms (missed cycles : 2).[0m +226.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329497 ms (missed cycles : 3).[0m +227.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191322 ms (missed cycles : 3).[0m +228.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864103 ms (missed cycles : 3).[0m +229.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159193 ms (missed cycles : 4).[0m +230.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083906 ms (missed cycles : 2).[0m +231.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417123 ms (missed cycles : 4).[0m +232.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469430 ms (missed cycles : 2).[0m +233.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831540 ms (missed cycles : 2).[0m +234.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916119 ms (missed cycles : 2).[0m +235.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461237 ms (missed cycles : 2).[0m +236.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320649 ms (missed cycles : 2).[0m +237.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995761 ms (missed cycles : 3).[0m +238.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259595 ms (missed cycles : 4).[0m +239.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232454 ms (missed cycles : 3).[0m +240.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323107 ms (missed cycles : 4).[0m +241.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808919 ms (missed cycles : 3).[0m +242.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891472 ms (missed cycles : 3).[0m +243.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028884 ms (missed cycles : 2).[0m +244.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800635 ms (missed cycles : 2).[0m +246.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574002 ms (missed cycles : 3).[0m +247.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637751 ms (missed cycles : 3).[0m +248.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414690 ms (missed cycles : 4).[0m +249.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810528 ms (missed cycles : 3).[0m +250.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795383 ms (missed cycles : 4).[0m +251.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386137 ms (missed cycles : 3).[0m +252.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036842 ms (missed cycles : 4).[0m +253.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777208 ms (missed cycles : 4).[0m +254.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105776 ms (missed cycles : 3).[0m +255.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.499851 ms (missed cycles : 4).[0m +256.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371221 ms (missed cycles : 4).[0m +257.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148185 ms (missed cycles : 2).[0m +258.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105355 ms (missed cycles : 2).[0m +259.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142130 ms (missed cycles : 2).[0m +260.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065767 ms (missed cycles : 3).[0m +261.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941987 ms (missed cycles : 3).[0m +263.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182574 ms (missed cycles : 2).[0m +264.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737327 ms (missed cycles : 3).[0m +265.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436578 ms (missed cycles : 3).[0m +266.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705382 ms (missed cycles : 3).[0m +267.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816156 ms (missed cycles : 3).[0m +267.70sINFOros2_control_nodeMuJoCo sim: 2.74% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +269.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493451 ms (missed cycles : 3).[0m +270.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483608 ms (missed cycles : 4).[0m +271.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866764 ms (missed cycles : 3).[0m +272.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379891 ms (missed cycles : 4).[0m +273.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100417 ms (missed cycles : 4).[0m +274.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297588 ms (missed cycles : 4).[0m +275.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605445 ms (missed cycles : 3).[0m +276.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835538 ms (missed cycles : 2).[0m +277.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296660 ms (missed cycles : 3).[0m +278.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012806 ms (missed cycles : 4).[0m +279.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111743 ms (missed cycles : 4).[0m +280.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856587 ms (missed cycles : 3).[0m +281.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546001 ms (missed cycles : 3).[0m +283.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417779 ms (missed cycles : 3).[0m +284.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001779 ms (missed cycles : 3).[0m +285.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293224 ms (missed cycles : 2).[0m +286.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627648 ms (missed cycles : 4).[0m +287.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765162 ms (missed cycles : 3).[0m +288.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369224 ms (missed cycles : 2).[0m +289.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578059 ms (missed cycles : 3).[0m +290.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.291850 ms (missed cycles : 4).[0m +291.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688434 ms (missed cycles : 3).[0m +292.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097881 ms (missed cycles : 2).[0m +293.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655552 ms (missed cycles : 3).[0m +294.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128297 ms (missed cycles : 2).[0m +295.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633613 ms (missed cycles : 4).[0m +296.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798367 ms (missed cycles : 3).[0m +298.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252696 ms (missed cycles : 4).[0m +299.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440209 ms (missed cycles : 3).[0m +300.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830164 ms (missed cycles : 3).[0m +301.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760037 ms (missed cycles : 3).[0m +302.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927695 ms (missed cycles : 2).[0m +303.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457919 ms (missed cycles : 3).[0m +304.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044432 ms (missed cycles : 2).[0m +305.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678277 ms (missed cycles : 3).[0m +306.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734614 ms (missed cycles : 2).[0m +307.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468797 ms (missed cycles : 3).[0m +308.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894011 ms (missed cycles : 2).[0m +309.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301831 ms (missed cycles : 4).[0m +311.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766756 ms (missed cycles : 3).[0m +312.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971507 ms (missed cycles : 3).[0m +313.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048180 ms (missed cycles : 2).[0m +314.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115692 ms (missed cycles : 4).[0m +315.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398707 ms (missed cycles : 2).[0m +316.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151610 ms (missed cycles : 2).[0m +317.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086513 ms (missed cycles : 2).[0m +318.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881345 ms (missed cycles : 2).[0m +319.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161658 ms (missed cycles : 4).[0m +320.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557798 ms (missed cycles : 4).[0m +321.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874922 ms (missed cycles : 2).[0m +322.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m +323.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771137 ms (missed cycles : 3).[0m +324.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505228 ms (missed cycles : 4).[0m +326.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757884 ms (missed cycles : 3).[0m +327.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475036 ms (missed cycles : 2).[0m +327.71sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +328.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493399 ms (missed cycles : 3).[0m +329.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892965 ms (missed cycles : 3).[0m +330.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905480 ms (missed cycles : 3).[0m +331.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097682 ms (missed cycles : 3).[0m +332.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593898 ms (missed cycles : 3).[0m +333.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402834 ms (missed cycles : 3).[0m +334.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948849 ms (missed cycles : 4).[0m +335.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316033 ms (missed cycles : 4).[0m +336.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328575 ms (missed cycles : 4).[0m +337.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638071 ms (missed cycles : 4).[0m +339.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490319 ms (missed cycles : 4).[0m +340.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711547 ms (missed cycles : 3).[0m +341.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381785 ms (missed cycles : 3).[0m +342.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319995 ms (missed cycles : 4).[0m +343.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870580 ms (missed cycles : 4).[0m +344.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977977 ms (missed cycles : 3).[0m +345.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668361 ms (missed cycles : 2).[0m +346.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769661 ms (missed cycles : 3).[0m +347.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253971 ms (missed cycles : 2).[0m +348.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108659 ms (missed cycles : 4).[0m +349.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743854 ms (missed cycles : 4).[0m +350.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712162 ms (missed cycles : 2).[0m +351.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624497 ms (missed cycles : 4).[0m +352.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207027 ms (missed cycles : 4).[0m +353.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518869 ms (missed cycles : 4).[0m +354.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207312 ms (missed cycles : 2).[0m +355.32sINFOobjective_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: ``}. +355.32sINFOros2_control_nodeGot request to cancel goal[0m ×2 +355.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +355.36sERRORobjective_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: 1786071722.97633123 seconds +355.40sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786071723.01565433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +355.82sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). +355.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475542 ms (missed cycles : 3).[0m +357.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868514 ms (missed cycles : 2).[0m +358.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355441 ms (missed cycles : 4).[0m +358.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +359.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083634 ms (missed cycles : 4).[0m +360.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080687 ms (missed cycles : 2).[0m +361.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570954 ms (missed cycles : 4).[0m +362.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826378 ms (missed cycles : 4).[0m +363.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139898 ms (missed cycles : 2).[0m +364.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610371 ms (missed cycles : 3).[0m +365.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158762 ms (missed cycles : 3).[0m +365.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +365.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071733.24117136 seconds +366.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786071733.79797196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +366.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518486 ms (missed cycles : 3).[0m +366.80sINFOobjective_server_nodeFound path in 0 iterations (1.227e-06 s). +367.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390362 ms (missed cycles : 4).[0m +368.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.528195 ms (missed cycles : 4).[0m +368.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________X] +369.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606432 ms (missed cycles : 3).[0m +370.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068012 ms (missed cycles : 2).[0m +371.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713644 ms (missed cycles : 2).[0m +372.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019986 ms (missed cycles : 4).[0m +373.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728964 ms (missed cycles : 3).[0m +374.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069850 ms (missed cycles : 3).[0m +375.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475981 ms (missed cycles : 6).[0m +377.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740819 ms (missed cycles : 2).[0m +378.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430812 ms (missed cycles : 6).[0m +379.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650132 ms (missed cycles : 3).[0m +380.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647518 ms (missed cycles : 2).[0m +381.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749842 ms (missed cycles : 3).[0m +382.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771835 ms (missed cycles : 6).[0m +383.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944430 ms (missed cycles : 3).[0m +384.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235446 ms (missed cycles : 2).[0m +385.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106883 ms (missed cycles : 2).[0m +386.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432727 ms (missed cycles : 3).[0m +387.71sINFOros2_control_nodeMuJoCo sim: 3.66% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +387.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916831 ms (missed cycles : 3).[0m +388.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.865244 ms (missed cycles : 4).[0m +389.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538338 ms (missed cycles : 4).[0m +390.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015729 ms (missed cycles : 5).[0m +391.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553340 ms (missed cycles : 3).[0m +392.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268773 ms (missed cycles : 4).[0m +394.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289872 ms (missed cycles : 3).[0m +395.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427671 ms (missed cycles : 3).[0m +396.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211195 ms (missed cycles : 3).[0m +396.82sINFOobjective_server_nodePlanning for 36 path waypoints. ×2 +397.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508160 ms (missed cycles : 2).[0m +398.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744245 ms (missed cycles : 4).[0m +399.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239559 ms (missed cycles : 4).[0m +400.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702045 ms (missed cycles : 3).[0m +401.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349418 ms (missed cycles : 2).[0m +402.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607225 ms (missed cycles : 3).[0m +403.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680308 ms (missed cycles : 3).[0m +404.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420274 ms (missed cycles : 4).[0m +406.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739781 ms (missed cycles : 2).[0m +407.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409797 ms (missed cycles : 3).[0m +408.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366468 ms (missed cycles : 3).[0m +409.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573366 ms (missed cycles : 3).[0m +410.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194772 ms (missed cycles : 4).[0m +411.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776102 ms (missed cycles : 4).[0m +412.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530860 ms (missed cycles : 2).[0m +413.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842983 ms (missed cycles : 3).[0m +414.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273804 ms (missed cycles : 4).[0m +415.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4).[0m +416.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087372 ms (missed cycles : 2).[0m +417.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494972 ms (missed cycles : 4).[0m +418.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208467 ms (missed cycles : 4).[0m +420.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111511 ms (missed cycles : 4).[0m +421.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.662452 ms (missed cycles : 4).[0m +422.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384126 ms (missed cycles : 4).[0m +423.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079240 ms (missed cycles : 4).[0m +424.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234935 ms (missed cycles : 4).[0m +425.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035717 ms (missed cycles : 3).[0m +426.06sINFOobjective_server_nodePlanning for 34 path waypoints. +426.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123296 ms (missed cycles : 4).[0m +427.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423066 ms (missed cycles : 4).[0m +428.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307865 ms (missed cycles : 2).[0m +429.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910828 ms (missed cycles : 2).[0m +430.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970161 ms (missed cycles : 4).[0m +431.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615556 ms (missed cycles : 3).[0m +432.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509795 ms (missed cycles : 3).[0m +433.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472244 ms (missed cycles : 3).[0m +434.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665984 ms (missed cycles : 3).[0m +435.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457783 ms (missed cycles : 2).[0m +437.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600131 ms (missed cycles : 4).[0m +438.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992248 ms (missed cycles : 2).[0m +438.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786071806.19660187 seconds +439.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992703 ms (missed cycles : 2).[0m +439.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786071806.74920249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +440.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015655 ms (missed cycles : 2).[0m +441.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857191 ms (missed cycles : 3).[0m +442.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333222 ms (missed cycles : 2).[0m +443.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998902 ms (missed cycles : 3).[0m +443.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786071811.06935573 seconds +444.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786071811.64716887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +444.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891725 ms (missed cycles : 2).[0m +444.42sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). +445.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761765 ms (missed cycles : 2).[0m +446.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657218 ms (missed cycles : 3).[0m +447.72sINFOros2_control_nodeMuJoCo sim: 3.88% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +447.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037576 ms (missed cycles : 4).[0m +448.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500798 ms (missed cycles : 3).[0m +449.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344695 ms (missed cycles : 3).[0m +451.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658876 ms (missed cycles : 3).[0m +452.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774636 ms (missed cycles : 3).[0m +453.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637217 ms (missed cycles : 3).[0m +454.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515636 ms (missed cycles : 3).[0m +455.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908666 ms (missed cycles : 2).[0m +456.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676432 ms (missed cycles : 3).[0m +457.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044218 ms (missed cycles : 2).[0m +458.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451304 ms (missed cycles : 2).[0m +459.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111841 ms (missed cycles : 4).[0m +460.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566201 ms (missed cycles : 3).[0m +461.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982884 ms (missed cycles : 3).[0m +462.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525002 ms (missed cycles : 3).[0m +463.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592802 ms (missed cycles : 3).[0m +464.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162677 ms (missed cycles : 3).[0m +465.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466574 ms (missed cycles : 3).[0m +466.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492520 ms (missed cycles : 4).[0m +467.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375682 ms (missed cycles : 3).[0m +469.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126095 ms (missed cycles : 4).[0m +470.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036896 ms (missed cycles : 2).[0m +471.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454341 ms (missed cycles : 3).[0m +472.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709726 ms (missed cycles : 2).[0m +473.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816006 ms (missed cycles : 3).[0m +474.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223564 ms (missed cycles : 4).[0m +475.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843158 ms (missed cycles : 3).[0m +476.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846153 ms (missed cycles : 3).[0m +477.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953703 ms (missed cycles : 3).[0m +478.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403526 ms (missed cycles : 2).[0m +479.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221243 ms (missed cycles : 4).[0m +480.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681384 ms (missed cycles : 2).[0m +482.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640308 ms (missed cycles : 3).[0m +483.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583266 ms (missed cycles : 4).[0m +484.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159005 ms (missed cycles : 4).[0m +485.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621008 ms (missed cycles : 3).[0m +486.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614715 ms (missed cycles : 3).[0m +487.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410934 ms (missed cycles : 4).[0m +488.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719699 ms (missed cycles : 2).[0m +489.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690843 ms (missed cycles : 2).[0m +490.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871715 ms (missed cycles : 3).[0m +491.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338691 ms (missed cycles : 5).[0m +492.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557269 ms (missed cycles : 3).[0m +493.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276053 ms (missed cycles : 4).[0m +494.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704518 ms (missed cycles : 5).[0m +496.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840006 ms (missed cycles : 2).[0m +497.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840903 ms (missed cycles : 3).[0m +498.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179835 ms (missed cycles : 4).[0m +499.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744009 ms (missed cycles : 3).[0m +500.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366360 ms (missed cycles : 4).[0m +500.65sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786071868.26730824 seconds +501.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786071868.83560181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +501.59sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). +501.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948758 ms (missed cycles : 3).[0m +502.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249257 ms (missed cycles : 2).[0m +503.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802617 ms (missed cycles : 2).[0m +504.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439740 ms (missed cycles : 3).[0m +505.90sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). +505.93sINFOobjective_server_nodePath shortcutter: [X__________________X] +505.97sINFOobjective_server_nodeFound path in 0 iterations (1.098e-06 s). +505.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987251 ms (missed cycles : 2).[0m +506.01sINFOobjective_server_nodePath shortcutter: [X_____________________X] +506.05sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). +506.12sINFOobjective_server_nodePath shortcutter: [X_________________________X] +506.17sINFOobjective_server_nodeFound path in 0 iterations (1.908e-06 s). +506.42sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +506.49sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). +506.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] +506.75sINFOobjective_server_nodeFound path in 29 iterations (0.0350721 s). +507.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873784 ms (missed cycles : 3).[0m +507.09sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_____X] +507.16sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). +507.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +507.66sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). +507.72sINFOros2_control_nodeMuJoCo sim: 3.63% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +508.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] +508.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726712 ms (missed cycles : 2).[0m +508.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +509.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776633 ms (missed cycles : 2).[0m +510.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737278 ms (missed cycles : 2).[0m +511.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864384 ms (missed cycles : 3).[0m +512.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119786 ms (missed cycles : 3).[0m +513.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030742 ms (missed cycles : 2).[0m +514.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786071881.94389439 seconds +514.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387038 ms (missed cycles : 3).[0m +514.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071882.53724623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +515.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071883.16737413 seconds +515.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444892 ms (missed cycles : 3).[0m +516.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786071883.72051287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +516.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353199 ms (missed cycles : 3).[0m +516.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786071884.40064025 seconds +517.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +517.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268605 ms (missed cycles : 2).[0m +518.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548855 ms (missed cycles : 3).[0m +519.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456042 ms (missed cycles : 3).[0m +520.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550539 ms (missed cycles : 2).[0m +521.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127925 ms (missed cycles : 2).[0m +522.66sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.66sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.67sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.67sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.67sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.68sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.68sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.69sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.69sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +522.71sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.72sERRORweb_video_auth_proxy-35process has died [pid 9571, 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']. +522.72sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.72sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.73sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.73sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +522.76sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.76sERRORweb_bridge_auth_proxy-34process has died [pid 9570, 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']. +522.76sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.77sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.77sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.78sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.78sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.79sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.79sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.79sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.80sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.81sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.81sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +522.81sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] +522.83sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +522.86sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +522.88sINFOvideo_server-33process has finished cleanly [pid 9563] +522.88sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +522.91sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +522.93sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +522.96sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +522.98sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +523.01sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +523.04sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +523.08sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +523.10sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +523.11sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9557] +523.12sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +523.15sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +523.19sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +523.22sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +523.22sERRORmove_group-21process has died [pid 9538, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_fepp_nrl --params-file /tmp/launch_params_5aav48mq --params-file /tmp/launch_params_n40xuct0 --params-file /tmp/launch_params_1td3_u0c --params-file /tmp/launch_params_tspjbccl --params-file /tmp/launch_params_n0h27y4f']. +523.22sINFOui_teleop_bridge-30process has finished cleanly [pid 9551] +523.24sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +523.25sINFOcomponent_container_mt-28process has finished cleanly [pid 9549] +523.26sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] +523.29sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +523.29sINFOexecute_objective_bridge-29process has finished cleanly [pid 9550] +523.31sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +523.33sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +523.36sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +523.38sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +523.38sINFOvideo_server2026/08/07 03:04:50 INF shutting down gracefully +523.38sINFOvideo_server2026/08/07 03:04:50 INF [WebRTC] closing +523.38sINFOvideo_server2026/08/07 03:04:50 INF [RTSP] closing +523.38sINFOvideo_server2026/08/07 03:04:50 INF waiting for running hooks +523.38sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +523.38sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +523.39sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +523.39sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +523.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931826 ms (missed cycles : 2).[0m +523.39sINFOcomponent_container_mtStopping planning scene monitor[0m +523.39sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +523.39sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +523.39sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +523.40sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +523.40sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +523.40sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +523.40sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +523.40sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +523.40sERRORmove_groupwhat(): context cannot be slept with because it's invalid +523.40sERRORmove_groupStack trace (most recent call last) in thread 10171: +523.40sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +523.40sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b57dc3a63, in __clone +523.40sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b57d36aa3, in +523.40sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b57fc8db3, in +523.40sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f0b58734ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +523.40sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b5835a620, in rclcpp::Rate::sleep() +523.40sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b5829cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +523.40sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b5825e087, in +523.40sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b57f97390, in __cxa_throw +523.40sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b57f81a54, in std::terminate() +523.40sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b57f970d9, in +523.40sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b57f81ff4, in +523.40sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b57cc28fe, in abort +523.40sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b57cdf27d, in raise +523.40sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b57d38b2c, in pthread_kill +523.40sERRORmove_groupAborted (Signal sent by tkill() 9538 0) +523.40sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +523.40sINFOros2_control_nodeShutdown request received....[0m +523.40sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +523.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +523.40sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +523.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +523.40sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +523.40sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +523.40sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +523.40sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +523.40sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +523.40sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +523.40sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +523.40sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +523.40sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +523.40sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +523.40sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +523.40sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +523.40sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +523.40sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +523.40sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +523.40sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +523.40sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +523.40sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +523.40sINFOros2_control_nodeShutting down the controller manager.[0m +523.40sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +523.41sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +523.41sERRORodom_qos_relay.pyTraceback (most recent call last): +523.41sINFOodom_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> +523.41sINFOodom_qos_relay.pymain() +523.41sINFOodom_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 +523.41sINFOodom_qos_relay.pyrclpy.spin(node) +523.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +523.41sINFOodom_qos_relay.pyexecutor.spin_once() +523.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +523.41sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +523.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +523.41sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +523.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +523.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +523.41sINFOodom_qos_relay.pyreturn next(self._cb_iter) +523.41sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +523.41sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +523.41sINFOodom_qos_relay.pyraise ExternalShutdownException() +523.41sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +523.41sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +523.42sINFOros2_control_nodeAsync messages lost 0[0m ×2 +523.42sINFOros2_control_nodepublish_async_failures_ 2[0m +523.42sINFOros2_control_nodepublish_async_failures_ 0[0m +523.61sERRORcomponent_container_isolated-2process has died [pid 9424, 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_fpbzj45i --params-file /tmp/launch_params_dumkd49y -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +524.07sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9545] +524.09sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9544] +524.16sINFOobjective_server_node[2026-08-07 03:04:51.771] [moveit_pro_license] [info] +524.16sINFOobjective_server_node* Application has successfully terminated +524.17sINFOwaypoint_manager_node-23process has finished cleanly [pid 9540] +524.18sINFOcomponent_container_mt-27process has finished cleanly [pid 9548] +524.18sINFOparameter_manager_node-22process has finished cleanly [pid 9539] +524.22sINFOobjective_server_node_main-26process has finished cleanly [pid 9547] +524.22sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +524.26sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9430] +524.28sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9429] +524.35sINFOstatic_transform_publisher-4process has finished cleanly [pid 9426] +524.38sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9428] +524.38sINFOstatic_transform_publisher-3process has finished cleanly [pid 9425] +524.40sERRORodom_qos_relay.py-5process has died [pid 9427, 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']. +524.46sERRORcomponent_container_isolated-1process has died [pid 9423, 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_fpbzj45i --params-file /tmp/launch_params_tr4a2_wt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +525.72sINFOweb_bridge-31process has finished cleanly [pid 9552] +525.72sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +525.93sINFOros2_control_node-9process has finished cleanly [pid 9431] +534.54sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-07-03-04-58-702911-1bc6ee1d67ed-10507 ×2 +548.38sINFOstatic_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' +548.38sINFOstatic_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' +548.45sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +548.46sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +548.46sINFOcontroller_managerupdate rate is 600 Hz +548.46sINFOcontroller_managerOverruns handling is : enabled +548.46sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +548.46sWARNcontroller_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. +548.65sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +548.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +548.68sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +548.68sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +548.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778912 ms (missed cycles : 5). +548.71sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +548.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +548.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +548.72sINFOros2_control_node-9process started with pid [10565] ×2 +548.72sINFOmove_group-21process started with pid [10672] ×2 +548.72sINFOparameter_manager_node-22process started with pid [10673] ×2 +548.73sINFOwaypoint_manager_node-23process started with pid [10674] ×2 +548.73sINFOmove_joint_resampler_node-24process started with pid [10675] ×2 +548.73sINFOmove_end_effector_resampler_node-25process started with pid [10678] ×2 +548.73sINFOobjective_server_node_main-26process started with pid [10679] ×2 +548.73sINFOcomponent_container_mt-27process started with pid [10680] ×2 +548.73sINFOcomponent_container_mt-28process started with pid [10681] ×2 +548.73sINFOexecute_objective_bridge-29process started with pid [10682] ×2 +548.73sINFOui_teleop_bridge-30process started with pid [10683] ×2 +548.74sINFOweb_bridge-31process started with pid [10684] ×2 +548.74sINFOtf2_web_republisher_node-32process started with pid [10685] ×2 +548.74sINFOvideo_server-33process started with pid [10686] ×2 +548.74sINFOweb_bridge_auth_proxy-34process started with pid [10687] ×2 +548.74sINFOweb_video_auth_proxy-35process started with pid [10688] ×2 +548.74sINFOcontroller_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. +548.75sINFOcomponent_container_isolated-1process started with pid [10557] ×2 +548.75sINFOcomponent_container_isolated-2process started with pid [10558] ×2 +548.75sINFOstatic_transform_publisher-3process started with pid [10559] ×2 +548.75sINFOstatic_transform_publisher-4process started with pid [10560] ×2 +548.75sINFOodom_qos_relay.py-5process started with pid [10561] ×2 +548.75sINFOforward_stereo_publisher.py-6process started with pid [10562] ×2 +548.75sINFOscan_to_scan_filter_chain-7process started with pid [10563] ×2 +548.75sINFOscan_to_scan_filter_chain-8process started with pid [10564] ×2 +548.75sINFOros2-10process started with pid [10661] ×2 +548.75sINFOros2-11process started with pid [10662] ×2 +548.75sINFOros2-12process started with pid [10663] ×2 +548.76sINFOros2-13process started with pid [10664] ×2 +548.76sINFOros2-14process started with pid [10665] ×2 +548.76sINFOros2-15process started with pid [10666] ×2 +548.76sINFOros2-16process started with pid [10667] ×2 +548.76sINFOros2-17process started with pid [10668] ×2 +548.76sINFOros2-18process started with pid [10669] ×2 +548.76sINFOros2-19process started with pid [10670] ×2 +548.76sINFOros2-20process started with pid [10671] ×2 +548.81sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +548.83sINFOcontroller_serverCreating controller server +548.87sINFOlocal_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. +548.88sINFOlocal_costmap.local_costmapCreating Costmap +548.89sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +548.90sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +548.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +548.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +548.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +548.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +548.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +548.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +548.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +548.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +548.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778912 ms (missed cycles : 5).[0m ×2 +548.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +548.96sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +548.96sINFOmap_serverCreating +548.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +548.98sINFOsmoother_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. +548.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +548.99sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +549.02sINFOrobot_state_publisherRobot initialized +549.02sINFOcontroller_managerReceived robot description from topic. +549.02sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +549.03sINFOsmoother_serverCreating smoother server +549.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +549.04sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.04sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +549.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +549.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +549.06sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +549.07sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +549.07sINFOlifecycle_manager_localizationCreating +549.09sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +549.09sINFOplanner_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. +549.13sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +549.13sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +549.13sINFOplanner_serverCreating +549.13sINFOmap_serverConfiguring +549.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +549.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +549.17sINFOglobal_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. +549.18sINFOglobal_costmap.global_costmapCreating Costmap +549.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +549.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +549.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +549.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +549.23sINFObehavior_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. +549.24sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +549.24sINFOamclConfiguring +549.24sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +549.24sINFOmap_serverActivating +549.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. +549.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +549.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +549.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +549.35sINFObt_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. +549.37sINFObt_navigatorCreating +549.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +549.38sINFOlifecycle_manager_localizationServer map_server connected with bond. +549.38sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +549.38sINFOamclActivating +549.38sINFOamclSubscribed to initial_pose_topic: /initialpose +549.39sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +549.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +549.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +549.39sWARNlaser_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. +549.39sWARNlaser_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. +549.41sINFOamclSubscribed to map_topic: /map +549.42sINFOamclSubscribed to scan_topic: /scan_merged +549.42sINFOvideo_server2026/08/07 03:05:17 INF MediaMTX v1.19.3, linux, amd64 ×2 +549.42sINFOvideo_server2026/08/07 03:05:17 INF configuration loaded from /tmp/moveit-webrtc-cbh1gfiv/mediamtx.yml ×2 +549.42sINFOamclCreated reinitialize_global_localization service +549.42sINFOvideo_server2026/08/07 03:05:17 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +549.43sINFOvideo_server2026/08/07 03:05:17 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +549.43sINFOwaypoint_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. +549.43sINFOwaypoint_followerCreating +549.44sINFOamclCreated request_nomotion_update service +549.44sINFOamclA new map was received +549.44sINFOamclInitializing particle filter instance +549.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +549.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +549.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +549.51sINFOvelocity_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. +549.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +549.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +549.55sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.317209 seconds +549.55sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +549.55sINFOmove_groupLoaded robot model in 0.317209 seconds[0m ×2 +549.55sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +549.56sINFOlifecycle_manager_navigationCreating +549.59sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +549.61sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +549.61sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +549.61sINFOcontroller_serverConfiguring controller interface +549.61sINFOcontroller_servergetting progress checker plugins.. +549.61sINFOcontroller_servergetting goal checker plugins.. +549.61sINFOcontroller_serverController frequency set to 20.0000Hz +549.61sINFOlocal_costmap.local_costmapConfiguring +549.63sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +549.65sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +549.71sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +549.71sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +549.72sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +549.76sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +549.76sINFOcontroller_serverController Server has progress_checker progress checkers available. +549.76sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +549.78sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +549.79sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +549.81sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +549.82sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +549.82sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +549.83sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +549.83sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +549.84sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +549.84sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +549.84sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +549.84sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +549.85sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +549.85sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +549.86sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +549.86sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +549.86sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +549.86sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +549.86sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +549.87sINFOcontroller_serverOptimizer reset ×2 +549.88sINFOcontroller_serverController Server has FollowPath controllers available. +549.90sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +549.90sINFOsmoother_serverConfiguring smoother server +549.91sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +549.91sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +549.92sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +549.92sINFOplanner_serverConfiguring +549.92sINFOglobal_costmap.global_costmapConfiguring +549.93sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +549.94sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +549.95sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +549.95sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +549.95sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +549.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091511 ms (missed cycles : 2). +549.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091511 ms (missed cycles : 2).[0m ×2 +549.98sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +549.98sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +549.99sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +550.02sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +550.02sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +550.02sINFOplanner_serverPlanner Server has GridBased planners available. +550.02sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +550.04sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +550.04sINFObehavior_serverConfiguring +550.05sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +550.06sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +550.06sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +550.06sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +550.07sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +550.08sINFObehavior_serverConfiguring spin +550.10sINFObehavior_serverConfiguring backup +550.11sINFObehavior_serverConfiguring drive_on_heading +550.12sINFObehavior_serverConfiguring assisted_teleop +550.15sINFObehavior_serverConfiguring wait +550.17sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +550.17sINFObt_navigatorConfiguring +550.19sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +550.21sINFOamclParticle filter initialization completed +550.21sINFOamclInitializing particles from estimated pose and covariance +550.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +550.21sWARNbt_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 +550.22sINFOwaypoint_manager_nodeLoaded robot model in 0.491516 seconds[0m ×2 +550.29sINFOlifecycle_manager_localizationServer amcl connected with bond. +550.29sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +550.29sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +550.31sINFOamclThe bond connection to the lifecycle manager is now fully formed +550.48sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +550.57sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +550.57sINFOwaypoint_followerConfiguring +550.63sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +550.63sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +550.63sINFOvelocity_smootherConfiguring velocity smoother +550.64sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +550.64sINFOcontroller_serverActivating +550.64sINFOlocal_costmap.local_costmapActivating +550.64sINFOlocal_costmap.local_costmapChecking transform +550.64sINFOlocal_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. ×16 +550.72sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +550.72sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +550.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137372 ms (missed cycles : 2). +550.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137372 ms (missed cycles : 2).[0m ×2 +551.09sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.09sWARNmove_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. +551.24sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.40sWARNwaypoint_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. +551.41sWARNwaypoint_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. +551.41sWARNwaypoint_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. +551.41sWARNwaypoint_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. +551.41sWARNwaypoint_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. +551.41sWARNwaypoint_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. +551.41sWARNwaypoint_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. +551.47sINFOmove_group[2026-08-07 03:05:19.087] [moveit_pro_license] [info] ×2 +551.77sINFOwaypoint_manager_node[2026-08-07 03:05:19.381] [moveit_pro_license] [info] ×2 +551.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +551.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +551.90sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +551.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +551.90sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +551.90sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +551.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +551.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +551.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +551.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +551.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +551.95sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +551.95sINFOcontroller_managerActivating component 'ur_mujoco_control'. +551.95sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +551.95sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +551.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889716 ms (missed cycles : 3). +551.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889716 ms (missed cycles : 3).[0m ×2 +551.98sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +551.98sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +552.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +552.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +552.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +552.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +552.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +552.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +552.11sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +552.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +552.11sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +552.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +552.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +552.35sINFOobjective_server_node[2026-08-07 03:05:19.955] [moveit_pro_license] [info] ×2 +552.44sINFOobjective_server_nodeLoaded robot model in 0.0424902 seconds[0m ×2 +552.48sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +552.48sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +552.49sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +552.49sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +552.52sINFOros2-16process has finished cleanly [pid 10667] ×2 +552.54sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +552.62sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +552.62sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +552.62sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +552.62sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +552.66sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +552.66sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +552.66sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +552.66sINFOstreaming_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) +552.67sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +552.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +552.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +552.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +552.84sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +552.86sINFOstreaming_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) +552.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +552.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +552.93sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +552.94sWARNobjective_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. +553.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298552 ms (missed cycles : 4). +553.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298552 ms (missed cycles : 4).[0m ×2 +553.11sINFOros2_control_node[2026-08-07 03:05:20.725] [info] Controller state will be published at 20 Hz. ×2 +553.11sINFOros2_control_node[2026-08-07 03:05:20.726] [info] JointVelocityController 'on_configure' succeeded. ×2 +553.19sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786071919.686 for reason 'discarding message because the queue is full' +553.27sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +553.35sINFOcomponent_container_mtLoaded robot model in 0.451821 seconds[0m ×2 +553.46sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +553.46sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +553.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +553.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +553.49sINFOros2-20process has finished cleanly [pid 10671] ×2 +553.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +553.54sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +553.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +553.54sINFOcontroller_managerSuccessfully switched controllers! ×7 +553.55sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +553.80sWARNplanning_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. +553.80sWARNplanning_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. +553.80sWARNplanning_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. +553.80sWARNplanning_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. +553.80sWARNplanning_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. +553.80sWARNplanning_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. +553.80sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.81sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.82sWARNplanning_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. +553.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +553.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +553.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +553.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +553.93sINFOros2-11process has finished cleanly [pid 10662] ×2 +553.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +553.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +553.99sINFOforce_torque_sensor_broadcasterconfigure successful +553.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +554.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +554.07sINFOcomponent_container_mt[2026-08-07 03:05:21.685] [moveit_pro_license] [info] ×2 +554.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864328 ms (missed cycles : 2). +554.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864328 ms (missed cycles : 2).[0m ×2 +554.21sINFOmove_groupMoveGroup debug mode is ON +554.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +554.36sINFOcontroller_managerLoading controller 'velocity_force_controller' +554.36sINFOros2-10process has finished cleanly [pid 10661] ×2 +554.41sINFOmove_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
********************************************************
+554.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +554.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +554.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +554.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +555.06sINFOros2_control_node[2026-08-07 03:05:22.670] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +555.06sINFOros2_control_node[2026-08-07 03:05:22.672] [info] Controller state will be published at 10 Hz. ×2 +555.06sINFOros2_control_node[2026-08-07 03:05:22.673] [info] VelocityForceController 'on_configure' succeeded. ×2 +555.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127897 ms (missed cycles : 2). +555.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127897 ms (missed cycles : 2).[0m ×2 +555.41sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +555.41sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +555.42sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +555.42sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +555.42sINFOros2-17process has finished cleanly [pid 10668] ×2 +555.48sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +555.49sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +555.49sINFOplatform_velocity_controller_nav2configure successful +555.79sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786071922.286 for reason 'discarding message because the queue is full' +555.88sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +555.88sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +555.88sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +555.89sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +555.92sINFOros2-15process has finished cleanly [pid 10666] ×2 +555.96sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +555.96sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +556.34sINFOros2_control_node[2026-08-07 03:05:23.954] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +556.34sINFOros2_control_node[2026-08-07 03:05:23.956] [info] Controller state will be published at 10 Hz. ×2 +556.35sINFOros2_control_node[2026-08-07 03:05:23.961] [info] VelocityForceController 'on_configure' succeeded. ×2 +556.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787577 ms (missed cycles : 2). +556.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787577 ms (missed cycles : 2).[0m ×2 +556.71sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +556.71sINFOcontroller_managerLoading controller 'vacuum_gripper' +556.71sINFOros2-18process has finished cleanly [pid 10669] ×2 +556.71sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +556.72sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +556.73sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +556.77sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +556.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +556.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +556.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +556.78sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +557.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +557.11sINFOcontroller_managerLoading controller 'platform_velocity_controller' +557.11sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +557.12sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +557.16sINFOros2-14process has finished cleanly [pid 10665] ×2 +557.19sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +557.19sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +557.19sINFOplatform_velocity_controllerconfigure successful +557.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +557.20sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +557.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604157 ms (missed cycles : 3). +557.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604157 ms (missed cycles : 3).[0m ×2 +557.53sINFOros2-13process has finished cleanly [pid 10664] ×2 +557.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +557.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' +557.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +557.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +557.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +557.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +558.08sINFOros2_control_node[2026-08-07 03:05:25.690] [info] Controller state will be published at 20 Hz. ×2 +558.08sINFOros2_control_node[2026-08-07 03:05:25.691] [info] JointVelocityController 'on_configure' succeeded. ×2 +558.38sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786071924.886 for reason 'discarding message because the queue is full' +558.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +558.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +558.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 +558.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_41g90xr2 --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_jv9xhsgr --params-file /tmp/launch_params_xnl2aez1 [0m ×2 +558.46sINFOros2-19process has finished cleanly [pid 10670] ×2 +558.50sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +558.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +558.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +558.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +558.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +558.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402991 ms (missed cycles : 3). +558.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402991 ms (missed cycles : 3).[0m ×2 +558.64sINFOlocal_costmap.local_costmapstart +558.70sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 3.469ms +558.74sWARNcontroller_serverParameter controller_server.verbose not found +558.74sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +558.75sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +558.85sINFOlifecycle_manager_navigationServer controller_server connected with bond. +558.85sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +558.85sINFOsmoother_serverActivating +558.85sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +558.88sINFOros2-12process has finished cleanly [pid 10663] ×2 +558.95sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +558.95sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +558.95sINFOplanner_serverActivating +558.96sINFOglobal_costmap.global_costmapActivating +558.96sINFOglobal_costmap.global_costmapChecking transform +558.96sINFOglobal_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 1786071926.537761 but the earliest data is at time 1786071927.186111, when looking up transform from frame [ridgeback_base_link] to frame [map] +559.46sINFOglobal_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 1786071927.044374 but the earliest data is at time 1786071927.186111, when looking up transform from frame [ridgeback_base_link] to frame [map] +559.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678546 ms (missed cycles : 3). +559.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678546 ms (missed cycles : 3).[0m ×2 +559.96sINFOglobal_costmap.global_costmapstart +560.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). +560.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 +561.01sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +561.01sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +561.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. +561.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +561.11sINFObehavior_serverActivating +561.11sINFObehavior_serverActivating spin +561.11sINFObehavior_serverActivating backup +561.11sINFObehavior_serverActivating drive_on_heading +561.11sINFObehavior_serverActivating assisted_teleop +561.11sINFObehavior_serverActivating wait +561.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +561.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +561.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +561.22sINFObt_navigatorActivating +561.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +561.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +561.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +561.39sINFOwaypoint_followerActivating +561.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +561.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +561.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +561.49sINFOvelocity_smootherActivating +561.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +561.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +561.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +561.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +561.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). +561.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 +561.99sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +562.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). +562.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 +563.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). +563.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 +563.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +563.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +563.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +563.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 +564.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +564.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 +564.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). +564.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 +565.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +565.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 +565.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +565.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +565.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +565.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +565.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +565.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +565.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +565.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 +565.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). +565.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__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 | 74.3s | 3 errors · 243 warnings · 216 info |
+ 0.00sINFOamclParticle filter update iteration stats: 4869 particles 723 points - 7.485ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.800ms + 1.00sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 7.051ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831862 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831862 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.574ms + 2.00sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 3.914ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965817 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965817 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 3.588ms + 3.00sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 3.610ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935162 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935162 ms (missed cycles : 2).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 2.273ms + 3.99sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.903ms + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.06sERRORobjective_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: 1786072140.67270446 seconds ×3 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 3.79) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.14sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.72) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.914ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.056ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918772 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918772 ms (missed cycles : 2).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.816ms + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786072141.23370314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.409ms + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.952ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409189 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409189 ms (missed cycles : 4).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.933ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.191ms + 6.40sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 5.695ms + 6.70sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.330ms + 6.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.78sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.78sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.78sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670412 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670412 ms (missed cycles : 4).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.280ms + 7.79sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 2.279ms + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448075 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448075 ms (missed cycles : 3).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 8.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704067 ms (missed cycles : 5). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704067 ms (missed cycles : 5).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687732 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687732 ms (missed cycles : 2).[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246629 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246629 ms (missed cycles : 2).[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607348 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607348 ms (missed cycles : 2).[0m ×2 + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814607 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814607 ms (missed cycles : 2).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671261 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671261 ms (missed cycles : 2).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 14.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms ×2 + 15.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460759 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460759 ms (missed cycles : 3).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906865 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906865 ms (missed cycles : 3).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269777 ms (missed cycles : 3). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269777 ms (missed cycles : 3).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825921 ms (missed cycles : 4). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825921 ms (missed cycles : 4).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551684 ms (missed cycles : 3). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551684 ms (missed cycles : 3).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512649 ms (missed cycles : 3). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512649 ms (missed cycles : 3).[0m ×2 + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831386 ms (missed cycles : 3). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831386 ms (missed cycles : 3).[0m ×2 + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006979 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006979 ms (missed cycles : 3).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529945 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529945 ms (missed cycles : 3).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727890 ms (missed cycles : 3). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727890 ms (missed cycles : 3).[0m ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018313 ms (missed cycles : 4). + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018313 ms (missed cycles : 4).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815148 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815148 ms (missed cycles : 2).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312690 ms (missed cycles : 4). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312690 ms (missed cycles : 4).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms ×3 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440451 ms (missed cycles : 4). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440451 ms (missed cycles : 4).[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868385 ms (missed cycles : 5). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868385 ms (missed cycles : 5).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570068 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570068 ms (missed cycles : 3).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 32.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909090 ms (missed cycles : 2). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909090 ms (missed cycles : 2).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 33.01sINFOros2_control_nodeMuJoCo sim: 1.58% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325186 ms (missed cycles : 3). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325186 ms (missed cycles : 3).[0m ×2 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 34.03sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.03sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391573 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391573 ms (missed cycles : 2).[0m ×2 + 34.48sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154751 ms (missed cycles : 4). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154751 ms (missed cycles : 4).[0m ×2 + 35.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.36sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705875 ms (missed cycles : 6). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705875 ms (missed cycles : 6).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196566 ms (missed cycles : 4). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196566 ms (missed cycles : 4).[0m ×2 + 37.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946290 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946290 ms (missed cycles : 2).[0m ×2 + 38.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949802 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949802 ms (missed cycles : 2).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443679 ms (missed cycles : 3). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443679 ms (missed cycles : 3).[0m ×2 + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076817 ms (missed cycles : 3). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076817 ms (missed cycles : 3).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852802 ms (missed cycles : 4). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852802 ms (missed cycles : 4).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405622 ms (missed cycles : 4). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405622 ms (missed cycles : 4).[0m ×2 + 44.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840045 ms (missed cycles : 5). + 44.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840045 ms (missed cycles : 5).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162004 ms (missed cycles : 4). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162004 ms (missed cycles : 4).[0m ×2 + 46.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821459 ms (missed cycles : 4). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821459 ms (missed cycles : 4).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485687 ms (missed cycles : 4). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485687 ms (missed cycles : 4).[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167278 ms (missed cycles : 4). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167278 ms (missed cycles : 4).[0m ×2 + 49.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221025 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221025 ms (missed cycles : 2).[0m ×2 + 50.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 51.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms ×2 + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753571 ms (missed cycles : 3). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753571 ms (missed cycles : 3).[0m ×2 + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747502 ms (missed cycles : 3). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747502 ms (missed cycles : 3).[0m ×2 + 52.52sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077998 ms (missed cycles : 5). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077998 ms (missed cycles : 5).[0m ×2 + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317423 ms (missed cycles : 5). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317423 ms (missed cycles : 5).[0m ×2 + 55.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611064 ms (missed cycles : 2). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611064 ms (missed cycles : 2).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326244 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326244 ms (missed cycles : 2).[0m ×2 + 57.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642840 ms (missed cycles : 3). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642840 ms (missed cycles : 3).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 58.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278198 ms (missed cycles : 4). + 58.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278198 ms (missed cycles : 4).[0m ×2 + 58.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 59.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051038 ms (missed cycles : 2). + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051038 ms (missed cycles : 2).[0m ×2 + 60.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173180 ms (missed cycles : 4). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173180 ms (missed cycles : 4).[0m ×2 + 61.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948290 ms (missed cycles : 2). + 61.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948290 ms (missed cycles : 2).[0m ×2 + 62.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 62.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418940 ms (missed cycles : 4). + 62.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418940 ms (missed cycles : 4).[0m ×2 + 63.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 64.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930882 ms (missed cycles : 3). + 64.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930882 ms (missed cycles : 3).[0m ×2 + 64.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 65.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380648 ms (missed cycles : 3). + 65.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380648 ms (missed cycles : 3).[0m ×2 + 65.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 65.77sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 66.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975816 ms (missed cycles : 5). + 66.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975816 ms (missed cycles : 5).[0m ×2 + 67.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871859 ms (missed cycles : 3). + 67.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871859 ms (missed cycles : 3).[0m ×2 + 68.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435385 ms (missed cycles : 3). + 68.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435385 ms (missed cycles : 3).[0m ×2 + 69.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102927 ms (missed cycles : 3). + 69.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102927 ms (missed cycles : 3).[0m ×2 + 69.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms ×2 + 70.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 70.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431191 ms (missed cycles : 3). + 70.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431191 ms (missed cycles : 3).[0m ×2 + 71.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.545ms + 71.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725626 ms (missed cycles : 4). + 71.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725626 ms (missed cycles : 4).[0m ×2 + 71.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 72.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842817 ms (missed cycles : 2). + 72.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842817 ms (missed cycles : 2).[0m ×2 + 72.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 73.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 73.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712492 ms (missed cycles : 2). + 73.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712492 ms (missed cycles : 2).[0m ×2 + 74.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 74.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343388 ms (missed cycles : 4). + 74.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343388 ms (missed cycles : 4).[0m ×2 + 75.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341898 ms (missed cycles : 3). + 75.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341898 ms (missed cycles : 3).[0m ×2 + 76.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 76.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744942 ms (missed cycles : 3). + 76.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744942 ms (missed cycles : 3).[0m ×2 + 77.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984750 ms (missed cycles : 2). + 77.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984750 ms (missed cycles : 2).[0m ×2 + 78.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786072215.00389338 seconds ×3 + 78.44sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 13.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.44sWARNlocal_costmap.local_costmapSensor origin at (-3.09, 13.47) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.155ms + 78.54sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 10.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 78.54sWARNlocal_costmap.local_costmapSensor origin at (-2.49, 10.28) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 78.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.008ms + 78.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.822ms + 78.95sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786072215.56546998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189177 ms (missed cycles : 2). + 79.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189177 ms (missed cycles : 2).[0m ×2 + 79.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.134ms + 79.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 80.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 80.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 80.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 81.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 190 warnings · 167 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: 1786071976.93688154 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071977.49917006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (4.5698e-05 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.81sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.81sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.81sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.81sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469538 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469538 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786071980.79929924 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786071981.35714483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508511 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508511 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742072 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742072 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681710 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681710 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121056 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121056 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603707 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603707 ms (missed cycles : 3).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.124ms + 9.72sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.870ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005412 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005412 ms (missed cycles : 3).[0m ×2 + 10.22sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.756ms + 10.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784548 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784548 ms (missed cycles : 3).[0m ×2 + 11.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 11.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166667 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166667 ms (missed cycles : 2).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 12.72sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828801 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828801 ms (missed cycles : 2).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169000 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169000 ms (missed cycles : 2).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447068 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447068 ms (missed cycles : 2).[0m ×2 + 15.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921136 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921136 ms (missed cycles : 2).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms ×2 + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087052 ms (missed cycles : 4). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087052 ms (missed cycles : 4).[0m ×2 + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 18.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296898 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296898 ms (missed cycles : 2).[0m ×2 + 18.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181108 ms (missed cycles : 5). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.181108 ms (missed cycles : 5).[0m ×2 + 19.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773328 ms (missed cycles : 3). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773328 ms (missed cycles : 3).[0m ×2 + 20.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754558 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754558 ms (missed cycles : 3).[0m ×2 + 21.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845775 ms (missed cycles : 3). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845775 ms (missed cycles : 3).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571069 ms (missed cycles : 4). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571069 ms (missed cycles : 4).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.133ms + 24.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634597 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634597 ms (missed cycles : 2).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 25.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms ×2 + 25.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235802 ms (missed cycles : 4). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235802 ms (missed cycles : 4).[0m ×2 + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042636 ms (missed cycles : 4). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042636 ms (missed cycles : 4).[0m ×2 + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346071 ms (missed cycles : 4). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346071 ms (missed cycles : 4).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047538 ms (missed cycles : 4). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047538 ms (missed cycles : 4).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421392 ms (missed cycles : 4). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421392 ms (missed cycles : 4).[0m ×2 + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 31.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783056 ms (missed cycles : 4). + 31.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783056 ms (missed cycles : 4).[0m ×2 + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 32.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397954 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397954 ms (missed cycles : 2).[0m ×2 + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742320 ms (missed cycles : 3). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742320 ms (missed cycles : 3).[0m ×2 + 33.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 34.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630216 ms (missed cycles : 3). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630216 ms (missed cycles : 3).[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700780 ms (missed cycles : 3). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700780 ms (missed cycles : 3).[0m ×2 + 35.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.79sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380404 ms (missed cycles : 4). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380404 ms (missed cycles : 4).[0m ×2 + 37.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424474 ms (missed cycles : 4). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424474 ms (missed cycles : 4).[0m ×2 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861215 ms (missed cycles : 3). + 38.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861215 ms (missed cycles : 3).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507845 ms (missed cycles : 4). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507845 ms (missed cycles : 4).[0m ×2 + 40.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516400 ms (missed cycles : 4). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516400 ms (missed cycles : 4).[0m ×2 + 40.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680736 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680736 ms (missed cycles : 3).[0m ×2 + 42.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146964 ms (missed cycles : 4). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146964 ms (missed cycles : 4).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251428 ms (missed cycles : 4). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.251428 ms (missed cycles : 4).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201550 ms (missed cycles : 4). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201550 ms (missed cycles : 4).[0m ×2 + 45.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799754 ms (missed cycles : 3). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799754 ms (missed cycles : 3).[0m ×2 + 47.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002054 ms (missed cycles : 3). + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002054 ms (missed cycles : 3).[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923476 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923476 ms (missed cycles : 3).[0m ×2 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607790 ms (missed cycles : 3). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607790 ms (missed cycles : 3).[0m ×2 + 49.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736576 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736576 ms (missed cycles : 2).[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664494 ms (missed cycles : 3). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664494 ms (missed cycles : 3).[0m ×2 + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.043609 ms (missed cycles : 5). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.043609 ms (missed cycles : 5).[0m ×2 + 52.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454587 ms (missed cycles : 3). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454587 ms (missed cycles : 3).[0m ×2 + 54.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459492 ms (missed cycles : 4). + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459492 ms (missed cycles : 4).[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707866 ms (missed cycles : 3). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707866 ms (missed cycles : 3).[0m ×2 + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326509 ms (missed cycles : 4). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326509 ms (missed cycles : 4).[0m ×2 + 56.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 59.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 59.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 60.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 60.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 60.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 61.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 61.57sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.57sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 61.67sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.67sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 62.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 62.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 62.46sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 62.49sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 62.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 62.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 63.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 64.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 64.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 64.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.4s | 187 warnings · 147 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363192 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363192 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499895 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499895 ms (missed cycles : 3).[0m ×2 + 9.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.300ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522769 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522769 ms (missed cycles : 3).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.951ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134643 ms (missed cycles : 4). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134643 ms (missed cycles : 4).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.134ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.647ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056024 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056024 ms (missed cycles : 3).[0m ×2 + 11.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.351ms + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.680ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990215 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990215 ms (missed cycles : 2).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.099ms + 13.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.657ms + 13.55sINFOros2_control_nodeMuJoCo sim: 2.56% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677128 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677128 ms (missed cycles : 2).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.397ms + 14.44sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 6.032ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011170 ms (missed cycles : 4).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 5.938ms + 15.44sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 3.242ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532614 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532614 ms (missed cycles : 3).[0m ×2 + 15.94sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.996ms + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348215 ms (missed cycles : 3). + 16.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348215 ms (missed cycles : 3).[0m ×2 + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079167 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079167 ms (missed cycles : 2).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044619 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044619 ms (missed cycles : 2).[0m ×2 + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846236 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846236 ms (missed cycles : 3).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696860 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696860 ms (missed cycles : 3).[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646659 ms (missed cycles : 3). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646659 ms (missed cycles : 3).[0m ×2 + 22.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688460 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688460 ms (missed cycles : 3).[0m ×2 + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120219 ms (missed cycles : 3). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120219 ms (missed cycles : 3).[0m ×2 + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530667 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530667 ms (missed cycles : 3).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.889960 ms (missed cycles : 5). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.889960 ms (missed cycles : 5).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948738 ms (missed cycles : 2). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948738 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839222 ms (missed cycles : 3). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839222 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 29.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056673 ms (missed cycles : 4). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056673 ms (missed cycles : 4).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895221 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895221 ms (missed cycles : 2).[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911216 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911216 ms (missed cycles : 3).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163568 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163568 ms (missed cycles : 4).[0m ×2 + 33.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 34.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519954 ms (missed cycles : 4). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519954 ms (missed cycles : 4).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352257 ms (missed cycles : 3). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352257 ms (missed cycles : 3).[0m ×2 + 35.62sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.62sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752742 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752742 ms (missed cycles : 2).[0m ×2 + 36.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321177 ms (missed cycles : 2). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321177 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963734 ms (missed cycles : 5). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963734 ms (missed cycles : 5).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407415 ms (missed cycles : 3). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407415 ms (missed cycles : 3).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842578 ms (missed cycles : 3). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842578 ms (missed cycles : 3).[0m ×2 + 40.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891995 ms (missed cycles : 3). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891995 ms (missed cycles : 3).[0m ×2 + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002892 ms (missed cycles : 3). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002892 ms (missed cycles : 3).[0m ×2 + 42.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.410811 ms (missed cycles : 4). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.410811 ms (missed cycles : 4).[0m ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699172 ms (missed cycles : 2). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699172 ms (missed cycles : 2).[0m ×2 + 45.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222214 ms (missed cycles : 2). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222214 ms (missed cycles : 2).[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798197 ms (missed cycles : 3). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798197 ms (missed cycles : 3).[0m ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142270 ms (missed cycles : 2). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142270 ms (missed cycles : 2).[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673344 ms (missed cycles : 2). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673344 ms (missed cycles : 2).[0m ×2 + 49.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 50.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724136 ms (missed cycles : 5). + 50.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724136 ms (missed cycles : 5).[0m ×2 + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711018 ms (missed cycles : 2). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711018 ms (missed cycles : 2).[0m ×2 + 52.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307123 ms (missed cycles : 4). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307123 ms (missed cycles : 4).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731387 ms (missed cycles : 3). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731387 ms (missed cycles : 3).[0m ×2 + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809212 ms (missed cycles : 4). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809212 ms (missed cycles : 4).[0m ×2 + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221469 ms (missed cycles : 2). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221469 ms (missed cycles : 2).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862345 ms (missed cycles : 2). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862345 ms (missed cycles : 2).[0m ×2 + 57.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 57.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623198 ms (missed cycles : 3). + 57.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623198 ms (missed cycles : 3).[0m ×2 + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652707 ms (missed cycles : 5). + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652707 ms (missed cycles : 5).[0m ×2 + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248648 ms (missed cycles : 4). + 59.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248648 ms (missed cycles : 4).[0m ×2 + 60.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039961 ms (missed cycles : 4). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039961 ms (missed cycles : 4).[0m ×2 + 61.30sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786072277.37617898 seconds ×3 + 61.38sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.38sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.974ms + 61.48sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 9.73) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.48sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 9.75) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.804ms + 61.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.852ms + 61.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732130 ms (missed cycles : 5). + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732130 ms (missed cycles : 5).[0m ×2 + 61.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786072277.94934106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.238ms + 62.29sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 62.32sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.387ms + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402357 ms (missed cycles : 3). + 62.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402357 ms (missed cycles : 3).[0m ×2 + 63.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 63.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 63.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931800 ms (missed cycles : 3). + 63.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931800 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.5s | 174 warnings · 175 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.51sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.56sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786072075.57036376 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.367ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.367ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.286ms + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786072076.13995337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.059ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.177ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.121ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.599ms + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.38sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.820ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.565ms + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.718ms + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.676ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660725 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660725 ms (missed cycles : 2).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.404ms + 8.11sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 7.508ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531689 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531689 ms (missed cycles : 3).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 7.286ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314797 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314797 ms (missed cycles : 4).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 5.078ms + 10.51sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 4.129ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726079 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726079 ms (missed cycles : 3).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 4.387ms + 11.50sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 2.639ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309920 ms (missed cycles : 4). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309920 ms (missed cycles : 4).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.382ms + 12.50sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 1.475ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245806 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245806 ms (missed cycles : 3).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.347ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578215 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578215 ms (missed cycles : 4).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 14.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760670 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760670 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936976 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936976 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816244 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816244 ms (missed cycles : 2).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623509 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623509 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035349 ms (missed cycles : 3). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035349 ms (missed cycles : 3).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874958 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874958 ms (missed cycles : 2).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802932 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802932 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938010 ms (missed cycles : 2). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938010 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187792 ms (missed cycles : 4). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187792 ms (missed cycles : 4).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.350ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687972 ms (missed cycles : 3). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687972 ms (missed cycles : 3).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679277 ms (missed cycles : 3). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679277 ms (missed cycles : 3).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952262 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952262 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272958 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272958 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 29.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171475 ms (missed cycles : 3). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171475 ms (missed cycles : 3).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781307 ms (missed cycles : 3). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781307 ms (missed cycles : 3).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375976 ms (missed cycles : 4). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375976 ms (missed cycles : 4).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650516 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650516 ms (missed cycles : 3).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687111 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687111 ms (missed cycles : 2).[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056322 ms (missed cycles : 3). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056322 ms (missed cycles : 3).[0m ×2 + 35.33sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746925 ms (missed cycles : 3). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746925 ms (missed cycles : 3).[0m ×2 + 36.10sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.10sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 36.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505538 ms (missed cycles : 3). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505538 ms (missed cycles : 3).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 37.61sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399449 ms (missed cycles : 3). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399449 ms (missed cycles : 3).[0m ×2 + 37.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 38.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546983 ms (missed cycles : 5). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546983 ms (missed cycles : 5).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831934 ms (missed cycles : 3). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831934 ms (missed cycles : 3).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919471 ms (missed cycles : 4). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919471 ms (missed cycles : 4).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086362 ms (missed cycles : 5). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086362 ms (missed cycles : 5).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680964 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680964 ms (missed cycles : 3).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023039 ms (missed cycles : 3). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023039 ms (missed cycles : 3).[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791659 ms (missed cycles : 4). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791659 ms (missed cycles : 4).[0m ×2 + 45.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 46.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069277 ms (missed cycles : 3). + 46.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069277 ms (missed cycles : 3).[0m ×2 + 46.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642400 ms (missed cycles : 2). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642400 ms (missed cycles : 2).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 48.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131414 ms (missed cycles : 3). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131414 ms (missed cycles : 3).[0m ×2 + 48.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.029ms + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939484 ms (missed cycles : 2). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939484 ms (missed cycles : 2).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406214 ms (missed cycles : 3). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406214 ms (missed cycles : 3).[0m ×2 + 51.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568100 ms (missed cycles : 3). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568100 ms (missed cycles : 3).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671492 ms (missed cycles : 2). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671492 ms (missed cycles : 2).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152989 ms (missed cycles : 3). + 53.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152989 ms (missed cycles : 3).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 55.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930555 ms (missed cycles : 3). + 55.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930555 ms (missed cycles : 3).[0m ×2 + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805982 ms (missed cycles : 3). + 56.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805982 ms (missed cycles : 3).[0m ×2 + 56.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800948 ms (missed cycles : 3). + 57.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800948 ms (missed cycles : 3).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 58.05sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786072130.06008482 seconds ×3 + 58.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.870ms + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659201 ms (missed cycles : 3). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659201 ms (missed cycles : 3).[0m ×2 + 58.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 58.61sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786072130.61706662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 59.02sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.710ms + 59.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 59.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819548 ms (missed cycles : 3). + 59.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819548 ms (missed cycles : 3).[0m ×2 + 59.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.466ms + 60.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.446ms + 60.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.589ms + 60.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753772 ms (missed cycles : 3). + 60.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753772 ms (missed cycles : 3).[0m ×2 + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.092ms + 60.79sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.830ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 142 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_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 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 5.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175871 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175871 ms (missed cycles : 2).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690401 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690401 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667460 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667460 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512196 ms (missed cycles : 4). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512196 ms (missed cycles : 4).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157333 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157333 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843906 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843906 ms (missed cycles : 3).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080761 ms (missed cycles : 3). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080761 ms (missed cycles : 3).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924170 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924170 ms (missed cycles : 3).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908542 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908542 ms (missed cycles : 3).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296588 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296588 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869615 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869615 ms (missed cycles : 2).[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322860 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322860 ms (missed cycles : 2).[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584288 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584288 ms (missed cycles : 3).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.155ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708336 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708336 ms (missed cycles : 3).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207940 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207940 ms (missed cycles : 2).[0m ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806699 ms (missed cycles : 3). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806699 ms (missed cycles : 3).[0m ×2 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953368 ms (missed cycles : 3). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953368 ms (missed cycles : 3).[0m ×2 + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339515 ms (missed cycles : 3). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339515 ms (missed cycles : 3).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989579 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989579 ms (missed cycles : 2).[0m ×2 + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334215 ms (missed cycles : 2). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334215 ms (missed cycles : 2).[0m ×2 + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250916 ms (missed cycles : 2). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250916 ms (missed cycles : 2).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593472 ms (missed cycles : 3). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593472 ms (missed cycles : 3).[0m ×2 + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699304 ms (missed cycles : 3). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699304 ms (missed cycles : 3).[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831071 ms (missed cycles : 3). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831071 ms (missed cycles : 3).[0m ×2 + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679760 ms (missed cycles : 3). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679760 ms (missed cycles : 3).[0m ×2 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845162 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845162 ms (missed cycles : 3).[0m ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527283 ms (missed cycles : 3). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527283 ms (missed cycles : 3).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662921 ms (missed cycles : 3). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662921 ms (missed cycles : 3).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203128 ms (missed cycles : 2). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203128 ms (missed cycles : 2).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438094 ms (missed cycles : 3). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438094 ms (missed cycles : 3).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792612 ms (missed cycles : 2). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792612 ms (missed cycles : 2).[0m ×2 + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619411 ms (missed cycles : 2). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619411 ms (missed cycles : 2).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644978 ms (missed cycles : 3). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644978 ms (missed cycles : 3).[0m ×2 + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077018 ms (missed cycles : 2). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077018 ms (missed cycles : 2).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384410 ms (missed cycles : 3). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384410 ms (missed cycles : 3).[0m ×2 + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2).[0m ×2 + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3).[0m ×2 + 47.28sINFOjoint_trajectory_controllerGoal reached, success! + 47.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786071976.93688154 seconds ×3 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2).[0m ×2 + 47.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071977.49917006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4).[0m ×2 + 49.06sINFOobjective_server_nodeFound path in 0 iterations (4.5698e-05 s). ×2 + 49.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.5s | 108 warnings · 123 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354737 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354737 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444971 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444971 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786072043.10247445 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824761 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824761 ms (missed cycles : 3).[0m ×2 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.54sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786072044.66021466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255953 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255953 ms (missed cycles : 4).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440843 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440843 ms (missed cycles : 2).[0m ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105230 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105230 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516455 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516455 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.150ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067653 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067653 ms (missed cycles : 2).[0m ×2 + 9.50sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.263ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.021ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712713 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712713 ms (missed cycles : 3).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.226ms + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.148ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715816 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715816 ms (missed cycles : 2).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.883ms + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843783 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843783 ms (missed cycles : 3).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.263ms + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.471ms + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538268 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538268 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.205ms + 14.30sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 5.835ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661372 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661372 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 6.714ms + 15.29sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 3.629ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401164 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401164 ms (missed cycles : 2).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 2.740ms + 16.29sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.878ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011235 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011235 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987175 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987175 ms (missed cycles : 2).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.982ms + 18.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891616 ms (missed cycles : 3). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891616 ms (missed cycles : 3).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945603 ms (missed cycles : 3). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945603 ms (missed cycles : 3).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms ×2 + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799033 ms (missed cycles : 3). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799033 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.068ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246797 ms (missed cycles : 4). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246797 ms (missed cycles : 4).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421815 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421815 ms (missed cycles : 3).[0m ×2 + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502936 ms (missed cycles : 4). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502936 ms (missed cycles : 4).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979285 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979285 ms (missed cycles : 2).[0m ×2 + 25.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524148 ms (missed cycles : 3). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524148 ms (missed cycles : 3).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.841ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832602 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832602 ms (missed cycles : 2).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793907 ms (missed cycles : 3). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793907 ms (missed cycles : 3).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744080 ms (missed cycles : 3). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744080 ms (missed cycles : 3).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718450 ms (missed cycles : 5). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718450 ms (missed cycles : 5).[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2).[0m ×2 + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4).[0m ×2 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4).[0m ×2 + 35.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786072075.57036376 seconds ×3 + 35.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.367ms + 35.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.367ms + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.286ms + 36.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786072076.13995337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.059ms + 36.41sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 36.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.177ms + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2).[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.121ms + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 38.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.599ms + 38.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 14.5s | 64 warnings · 140 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623198 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623198 ms (missed cycles : 3).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652707 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652707 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248648 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248648 ms (missed cycles : 4).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039961 ms (missed cycles : 4). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039961 ms (missed cycles : 4).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.05sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786072277.37617898 seconds ×3 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.15sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.15sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.974ms + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 9.73) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.25sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 9.75) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.804ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.852ms + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732130 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732130 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786072277.94934106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.238ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.387ms + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402357 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402357 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.651ms + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931800 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931800 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689761 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689761 ms (missed cycles : 3).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.276ms + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062396 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062396 ms (missed cycles : 2).[0m ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (7.8e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (1.65e-06 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (1.607e-06 s). ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159631 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159631 ms (missed cycles : 2).[0m ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 10.41sINFOobjective_server_nodeFound path in 33 iterations (0.0499205 s). ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.92sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846047 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846047 ms (missed cycles : 2).[0m ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.63sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110702 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110702 ms (missed cycles : 3).[0m ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.54sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621793 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621793 ms (missed cycles : 3).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.138ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140053 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140053 ms (missed cycles : 2).[0m ×2 + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863967 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863967 ms (missed cycles : 3).[0m ×2 + 15.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.716ms + 16.32sINFOros2_control_nodeMuJoCo sim: 2.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2).[0m ×2 + 16.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.906ms + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.915ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4).[0m ×2 + 18.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786072291.84446287 seconds ×3 + 18.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.786ms + 19.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786072292.45846772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.15sINFOmove_groupClearing octomap...[0m ×2 + 19.15sINFOmove_groupOctomap cleared.[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.679ms + 19.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.389ms + 19.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786072293.23860407 seconds ×3 + 20.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 20.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.465ms + 20.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786072293.79566240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.390ms + 20.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2).[0m ×2 + 21.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786072294.39579701 seconds ×3 + 21.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.861ms + 21.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.086ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 92 errors · 33 warnings · 401 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.716ms + 0.21sINFOros2_control_nodeMuJoCo sim: 2.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.906ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.915ms + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4).[0m ×2 + 2.40sINFOjoint_trajectory_controllerGoal reached, success! + 2.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786072291.84446287 seconds ×3 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.786ms + 3.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786072292.45846772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.04sINFOmove_groupClearing octomap...[0m ×2 + 3.04sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.679ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.389ms + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786072293.23860407 seconds ×3 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.465ms + 4.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786072293.79566240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.390ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786072294.39579701 seconds ×3 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.861ms + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.086ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868924 ms (missed cycles : 2). + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868924 ms (missed cycles : 2).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077272 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077272 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030969 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030969 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443710 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443710 ms (missed cycles : 3).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330867 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330867 ms (missed cycles : 2).[0m ×2 + 11.28sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.35sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORweb_video_auth_proxy-35process has died [pid 10688, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.36sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.41sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORweb_bridge_auth_proxy-34process has died [pid 10687, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.42sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.50sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.53sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.54sINFOvideo_server-33process has finished cleanly [pid 10686] ×2 + 11.55sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.57sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.61sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.64sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181296 ms (missed cycles : 2). + 11.67sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.69sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.70sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.74sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.77sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.79sINFOtf2_web_republisher_node-32process has finished cleanly [pid 10685] ×2 + 11.80sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.83sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.87sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786072300.986 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.87sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.87sINFOcontroller_managerShutdown request received.... + 11.87sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.87sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.87sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.87sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.87sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.87sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.87sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.87sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.87sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.87sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.87sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.87sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.87sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.87sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.87sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.87sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.87sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.87sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.88sINFOcontroller_managerShutting down the controller manager. + 11.90sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.90sINFOui_teleop_bridge-30process has finished cleanly [pid 10683] ×2 + 11.90sERRORmove_group-21process has died [pid 10672, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_twfys3v2 --params-file /tmp/launch_params_7wlvc2yo --params-file /tmp/launch_params_jxby1_qt --params-file /tmp/launch_params_fe62wynb --params-file /tmp/launch_params_sk3vhk52 --params-file /tmp/launch_params_008yw2fe']. ×2 + 11.93sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.94sINFOcomponent_container_mt-28process has finished cleanly [pid 10681] ×2 + 11.97sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.98sINFOexecute_objective_bridge-29process has finished cleanly [pid 10682] ×2 + 12.01sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.04sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.06sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.09sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.09sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.09sINFOmap_serverDeactivating + 12.09sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.10sINFOmap_serverCleaning up + 12.10sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.10sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.11sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.11sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.11sINFOcontroller_serverDeactivating + 12.11sINFOlocal_costmap.local_costmapDeactivating + 12.11sINFOvideo_server2026/08/07 03:11:40 INF shutting down gracefully ×2 + 12.11sINFOvideo_server2026/08/07 03:11:40 INF [WebRTC] closing ×2 + 12.11sINFOvideo_server2026/08/07 03:11:40 INF [RTSP] closing ×2 + 12.11sINFOvideo_server2026/08/07 03:11:40 INF waiting for running hooks ×2 + 12.11sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.12sERRORamclThe bond connection to the lifecycle manager has been broken + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181296 ms (missed cycles : 2).[0m ×2 + 12.12sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.12sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.12sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.13sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.13sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.13sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.13sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.13sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.13sERRORmove_groupStack trace (most recent call last) in thread 11300: ×2 + 12.13sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.13sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25f3d22a63, in __clone ×2 + 12.13sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25f3c95aa3, in ×2 + 12.13sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f25f3f27db3, in ×2 + 12.13sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f25f4693ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f25f42b9620, in rclcpp::Rate::sleep() ×2 + 12.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f25f41fbd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f25f41bd087, in ×2 + 12.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f25f3ef6390, in __cxa_throw ×2 + 12.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f25f3ee0a54, in std::terminate() ×2 + 12.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f25f3ef60d9, in ×2 + 12.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f25f3ee0ff4, in ×2 + 12.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25f3c218fe, in abort ×2 + 12.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25f3c3e27d, in raise ×2 + 12.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25f3c97b2c, in pthread_kill ×2 + 12.13sERRORmove_groupAborted (Signal sent by tkill() 10672 0) ×2 + 12.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.13sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.13sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.13sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.13sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.13sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.13sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.13sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.13sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 12.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.14sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.14sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.14sINFOodom_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 + 12.14sINFOodom_qos_relay.pymain() ×2 + 12.14sINFOodom_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 + 12.14sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.14sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.14sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.14sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.14sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.14sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.14sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.14sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.14sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.14sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.14sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.15sINFOcontroller_serverCleaning up + 12.15sINFOlocal_costmap.local_costmapCleaning up + 12.19sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.19sINFOsmoother_serverDeactivating + 12.19sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.19sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.19sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.19sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.19sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.19sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.19sINFOvelocity_smootherDeactivating + 12.19sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.20sINFOsmoother_serverCleaning up + 12.22sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.22sINFOplanner_serverDeactivating + 12.22sINFOglobal_costmap.global_costmapDeactivating + 12.35sERRORcomponent_container_isolated-2process has died [pid 10558, 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_z4laroyl --params-file /tmp/launch_params__57a0wts -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.35sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.35sINFOwaypoint_followerDeactivating + 12.35sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.46sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.46sINFObt_navigatorDeactivating + 12.46sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.58sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.58sINFObehavior_serverDeactivating + 12.58sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.69sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.69sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.69sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 12.69sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.69sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.69sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.69sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.69sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.70sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.70sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.70sINFOvelocity_smootherCleaning up + 12.70sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.70sINFOwaypoint_followerCleaning up + 12.72sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.73sINFObt_navigatorCleaning up + 12.76sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 10678] ×2 + 12.80sINFOmove_joint_resampler_node-24process has finished cleanly [pid 10675] ×2 + 12.87sINFOcomponent_container_mt-27process has finished cleanly [pid 10680] ×2 + 12.87sINFOwaypoint_manager_node-23process has finished cleanly [pid 10674] ×2 + 12.87sINFOparameter_manager_node-22process has finished cleanly [pid 10673] ×2 + 12.90sINFObt_navigatorCompleted Cleaning up + 12.90sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.90sINFObehavior_serverCleaning up + 12.93sINFOobjective_server_node[2026-08-07 03:11:42.345] [moveit_pro_license] [info] ×2 + 12.93sINFOobjective_server_node************************************************* ×4 + 12.93sINFOobjective_server_node* MoveIt Pro License ×2 + 12.93sINFOobjective_server_node* Application has successfully terminated ×2 + 12.94sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 10564] ×2 + 12.96sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.96sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.96sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.96sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.96sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.96sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.96sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.98sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10563] ×2 + 12.98sINFOobjective_server_node_main-26process has finished cleanly [pid 10679] ×2 + 12.98sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.08sINFOstatic_transform_publisher-4process has finished cleanly [pid 10560] ×2 + 13.08sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 10562] ×2 + 13.11sINFOstatic_transform_publisher-3process has finished cleanly [pid 10559] ×2 + 13.12sERRORodom_qos_relay.py-5process has died [pid 10561, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.15sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.15sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.16sINFOplanner_serverCleaning up + 13.18sINFOglobal_costmap.global_costmapCleaning up + 13.19sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.19sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.22sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.22sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.22sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.22sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.22sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.55sERRORcomponent_container_isolated-1process has died [pid 10557, 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_z4laroyl --params-file /tmp/launch_params_w590kwnj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.24sINFOweb_bridge-31process has finished cleanly [pid 10684] ×2 + 14.24sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.60sINFOros2_control_node-9process has finished cleanly [pid 10565] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 50 warnings · 98 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930555 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930555 ms (missed cycles : 3).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805982 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805982 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800948 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800948 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786072130.06008482 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.870ms + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659201 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659201 ms (missed cycles : 3).[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786072130.61706662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.710ms + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819548 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819548 ms (missed cycles : 3).[0m ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.466ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.446ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.589ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753772 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753772 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.092ms + 5.99sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.830ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740947 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740947 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.198ms + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.484ms + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.191ms ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182265 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182265 ms (missed cycles : 4).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126234 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126234 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 9.81sINFOamclParticle filter update iteration stats: 4869 particles 723 points - 7.485ms + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279324 ms (missed cycles : 2).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.800ms + 10.81sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 7.051ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831862 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831862 ms (missed cycles : 2).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.574ms + 11.80sINFOamclParticle filter update iteration stats: 2366 particles 723 points - 3.914ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965817 ms (missed cycles : 3). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965817 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 3.588ms + 12.80sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 3.610ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935162 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935162 ms (missed cycles : 2).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 2.273ms + 13.80sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 1.903ms + 13.83sINFOobjective_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 + 13.84sINFOjoint_trajectory_controllerGot request to cancel goal + 13.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.86sERRORobjective_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: 1786072140.67270446 seconds ×3 + 13.95sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 3.79) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 13.95sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.72) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.914ms + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.056ms + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918772 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918772 ms (missed cycles : 2).[0m ×2 + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.816ms + 14.43sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786072141.23370314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.409ms + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.952ms + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409189 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409189 ms (missed cycles : 4).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.933ms + 16.20sINFOamclParticle filter update iteration stats: 3419 particles 723 points - 5.695ms + 16.50sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.330ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670412 ms (missed cycles : 4). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670412 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 40 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 4.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 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 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354737 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354737 ms (missed cycles : 4).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.028ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444971 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444971 ms (missed cycles : 2).[0m ×2 + 8.58sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786072043.10247445 seconds ×3 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824761 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824761 ms (missed cycles : 3).[0m ×2 + 10.14sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786072044.66021466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255953 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255953 ms (missed cycles : 4).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440843 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440843 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.9s | 37 warnings · 57 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343388 ms (missed cycles : 4). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343388 ms (missed cycles : 4).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341898 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341898 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744942 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744942 ms (missed cycles : 3).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984750 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984750 ms (missed cycles : 2).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786072215.00389338 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 + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 13.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.95sWARNlocal_costmap.local_costmapSensor origin at (-3.09, 13.47) 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 - 4.155ms + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 10.63) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.05sWARNlocal_costmap.local_costmapSensor origin at (-2.49, 10.28) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.008ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.822ms + 4.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786072215.56546998 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 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189177 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189177 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.134ms + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[0m ×2 + 8.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786072219.92564845 seconds ×3 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 9.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×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 3.384410 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384410 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786071976.93688154 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071977.49917006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (4.5698e-05 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469538 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469538 ms (missed cycles : 3).[0m ×2 + 7.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786071980.79929924 seconds ×3 + 8.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786071981.35714483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508511 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508511 ms (missed cycles : 3).[0m ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742072 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742072 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681710 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681710 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863967 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863967 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.716ms + 1.41sINFOros2_control_nodeMuJoCo sim: 2.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.906ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.915ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786072291.84446287 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.786ms + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786072292.45846772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.25sINFOmove_groupClearing octomap...[0m ×2 + 4.25sINFOmove_groupOctomap cleared.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.679ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.389ms + 5.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786072293.23860407 seconds ×3 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.465ms + 5.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786072293.79566240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.390ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786072294.39579701 seconds ×3 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.861ms + 6.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.086ms + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868924 ms (missed cycles : 2). + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868924 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 3.384410 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384410 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786071976.93688154 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071977.49917006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (4.5698e-05 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 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 3.384410 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384410 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474358 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879105 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318528 ms (missed cycles : 3).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786071976.93688154 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071977.49917006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (4.5698e-05 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 25 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 4.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 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 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 25 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 4.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 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 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 25 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 4.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 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 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 25 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 4.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 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 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 25 warnings · 37 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743821 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218270 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566231 ms (missed cycles : 3).[0m ×2 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757366 ms (missed cycles : 3).[0m ×2 + 3.82sINFOjoint_trajectory_controllerGoal reached, success! + 3.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786072038.36727333 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.93sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.995ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.20) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.91, 9.23) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.446ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031558 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.054ms + 4.43sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786072038.95232582 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 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.626ms + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552717 ms (missed cycles : 3).[0m ×2 + 5.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126719 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.525ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786072075.57036376 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.367ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.367ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.286ms + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786072076.13995337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.059ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.177ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.121ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.599ms + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786072075.57036376 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.367ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.367ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.286ms + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786072076.13995337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.059ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.177ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.121ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.599ms + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 44 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898779 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108940 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268730 ms (missed cycles : 4).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047222 ms (missed cycles : 4).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786072075.57036376 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.367ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.367ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.286ms + 4.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786072076.13995337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757409 ms (missed cycles : 3).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.059ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (6.41e-07 s). ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.177ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958250 ms (missed cycles : 2).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.121ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.599ms + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819751 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 31 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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.245ms + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900743 ms (missed cycles : 3).[0m ×2 + 0.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 1.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.878ms + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909841 ms (missed cycles : 2).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.705ms + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893247 ms (missed cycles : 4).[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: 1786072219.92564845 seconds ×3 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892812 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786072220.50602365 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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979262 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863967 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863967 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.716ms + 1.41sINFOros2_control_nodeMuJoCo sim: 2.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738637 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.906ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467517 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.915ms + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195745 ms (missed cycles : 4).[0m ×2 + 3.60sINFOjoint_trajectory_controllerGoal reached, success! + 3.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786072291.84446287 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.939ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.786ms + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786072292.45846772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.25sINFOmove_groupClearing octomap...[0m ×2 + 4.25sINFOmove_groupOctomap cleared.[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.679ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686701 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.389ms + 5.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786072293.23860407 seconds ×3 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.465ms + 5.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786072293.79566240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.390ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901724 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786072294.39579701 seconds ×3 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.861ms + 6.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.086ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.91sINFOmove_groupClearing octomap...[0m ×2 + 1.91sINFOmove_groupOctomap cleared.[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_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 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 5.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 130 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[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: 1786071976.93688154 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 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702086 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786071977.49917006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469001 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (4.5698e-05 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sINFOjoint_trajectory_controllerReceived new action goal + 1.81sINFOjoint_trajectory_controllerAccepted new action goal + 1.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646345 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469538 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469538 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786071980.79929924 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786071981.35714483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508511 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508511 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742072 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742072 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681710 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681710 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 130 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 130 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 27 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 0.34sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.34sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.44sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.44sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.44sINFObehavior_serverActivating + 0.44sINFObehavior_serverActivating spin + 0.44sINFObehavior_serverActivating backup + 0.44sINFObehavior_serverActivating drive_on_heading + 0.44sINFObehavior_serverActivating assisted_teleop + 0.44sINFObehavior_serverActivating wait + 0.44sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.55sINFObt_navigatorActivating + 0.61sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.72sINFOwaypoint_followerActivating + 0.72sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.82sINFOvelocity_smootherActivating + 0.82sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 133 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 7.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 24 warnings · 131 info |
+ 0.00sINFOglobal_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 1786071927.044374 but the earliest data is at time 1786071927.186111, when looking up transform from frame [ridgeback_base_link] to frame [map] + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678546 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678546 ms (missed cycles : 3).[0m ×2 + 0.50sINFOglobal_costmap.global_costmapstart + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.66sINFObehavior_serverActivating + 1.66sINFObehavior_serverActivating spin + 1.66sINFObehavior_serverActivating backup + 1.66sINFObehavior_serverActivating drive_on_heading + 1.66sINFObehavior_serverActivating assisted_teleop + 1.66sINFObehavior_serverActivating wait + 1.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.77sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.77sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.77sINFObt_navigatorActivating + 1.83sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.93sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.93sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.93sINFOwaypoint_followerActivating + 1.93sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 2.04sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 2.04sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 2.04sINFOvelocity_smootherActivating + 2.04sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 2.14sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 2.14sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 2.14sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.44sINFOmove_groupClearing octomap...[0m ×2 + 4.44sINFOmove_groupOctomap cleared.[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 113 info |
+ 0.00sINFOglobal_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 1786071927.044374 but the earliest data is at time 1786071927.186111, when looking up transform from frame [ridgeback_base_link] to frame [map] + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678546 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678546 ms (missed cycles : 3).[0m ×2 + 0.50sINFOglobal_costmap.global_costmapstart + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.66sINFObehavior_serverActivating + 1.66sINFObehavior_serverActivating spin + 1.66sINFObehavior_serverActivating backup + 1.66sINFObehavior_serverActivating drive_on_heading + 1.66sINFObehavior_serverActivating assisted_teleop + 1.66sINFObehavior_serverActivating wait + 1.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.77sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.77sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.77sINFObt_navigatorActivating + 1.83sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.93sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.93sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.93sINFOwaypoint_followerActivating + 1.93sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 2.04sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 2.04sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 2.04sINFOvelocity_smootherActivating + 2.04sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 2.14sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 2.14sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 2.14sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.44sINFOmove_groupClearing octomap...[0m ×2 + 4.44sINFOmove_groupOctomap cleared.[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 132 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 0.34sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.34sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.44sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.44sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.44sINFObehavior_serverActivating + 0.44sINFObehavior_serverActivating spin + 0.44sINFObehavior_serverActivating backup + 0.44sINFObehavior_serverActivating drive_on_heading + 0.44sINFObehavior_serverActivating assisted_teleop + 0.44sINFObehavior_serverActivating wait + 0.44sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.55sINFObt_navigatorActivating + 0.61sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.72sINFOwaypoint_followerActivating + 0.72sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.82sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.82sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.82sINFOvelocity_smootherActivating + 0.82sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 130 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 130 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 130 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092365 ms (missed cycles : 4).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.27sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.54sINFOvelocity_smootherActivating + 1.54sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.94sINFOmove_groupClearing octomap...[0m ×2 + 3.94sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.17sINFOwaypoint_followerActivating + 0.17sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.38sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110279 ms (missed cycles : 3).[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784019 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035649 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071931.50968432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.68sINFOmove_groupOctomap cleared.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071931.51992273 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071932.09243131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071932.10255361 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687868 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071932.65765381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071932.80835462 seconds ×3 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071933.41560197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071933.47572803 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194983 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786071934.03760242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513896 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557565 ms (missed cycles : 3).[0m ×2 | ||||